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I finally got sans serif fonts working in Beamer / pandoc by switching to the xetex/xelatex as the pdf engine used by pandoc. To use it, I had to install the texlive-xetex package, which was only about 18 MB.
sudo apt install texlive-xetex
Note: To check what packages were already installed, I used this command:
apt list --installed | grep texlive
To compile the presentation from the markdown file "pres.md", I used the following command:
pandoc --pdf-engine xelatex -t beamer pres.md -o pres.pdf
This is my "pres.md":
---
title: My Example Beamer Presentation
author: Ted Burke
date: 3-Dec-2022
theme: default
colortheme: default
header-includes:
- \setbeamercolor{normal text}{fg=black,bg=yellow!15}
mainfont: DejaVu Sans
...
# What is this presentation about?
- Pandoc - Wikipedia describes Pandoc as "a free-software document converter, widely used as a writing tool (especially by scholars) and as a basis for publishing workflows."
- Beamer - Wikipedia describes Beamer as "a LaTeX document class for creating presentation slides, with a wide range of templates and a set of features for making slideshow effects."
# A slide with an image

# Some example code
\tiny
~~~{.cpp}
#include <stdio.h>
int main()
{
printf("Hello.\n");
return 0;
}
#include <stdio.h>
int main()
{
printf("Hello.\n");
return 0;
}
#include <stdio.h>
int main()
{
printf("Hello.\n");
return 0;
}
~~~
\normalsize
# A slide with columns
This slide has some columns...
::: columns
:::: column
A list of items:
- One
- Three
- Two
::::
:::: column

::::
:::
# Some slides are text-heavy
- This is quite a long and unwieldy sentence to have included in a bullet point in a presentation, especially since it adds little of value.
- Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut enim ad minim veniam, quis nostrud exercitation ullamco laboris nisi ut aliquip ex ea commodo consequat.
# Displaying images
{ width=50% }
# Displaying images

# Favourite 1980s bands
- Cocteau Twins
- New Order
- The Cure
- Talk Talk
# Equations
The roots, $r_1$ and $r_2$ of a quadratic equation $ax^2 + bx + c = 0$ can be found using the following formula.
$$r_{1,2} = \frac{-b \pm \sqrt{b^2-4ac}}{2a}$$
# Another equation
Here's another more complicated equation:
$$ \frac{x^n + y^n}{x^n - y^{\frac{1}{n}}} = \int_0^\pi z^n dz $$