Conditional variance of ARMA(p,q) process $X_t$ is an ARMA(p,q) process. How do you derive the conditional variance on $X_s$ $\forall s<t$, i.e
$$Var({X_t|X_s, s<t})=?$$

There is no simple formula for this, but the variance can be computed using known algorithms.  You can find an algorithm for computing the auto-covariance in Brockwell and Davis (1991) (Section 3.3).  Assuming you are working with a Gaussian ARMA process, this can be used to find the conditional variance using standard results for the conditional variance of the multivariate normal distribution.
You can compute the conditional covariance matrix for the Gaussian ARMA process using the ARMA.var function in the ts.extend package in R.  This package also contains broader probability functions for stationary Gaussian ARMA processes.  Here is an example of the conditional variance matrix for a Gaussian $\text{ARMA}(2,3)$ process where we condition on the value at time $s=1$ and determine the conditional variance matrix over times $t=2,3,4,5$.
#Set the parameters for an ARMA process
AR <- c(0.8, 0.1)
MA <- c(0.6, 0.4, 0.4)

#Set conditioning values
N <- 5
CONDVALS <- rep(NA, N)
CONDVALS[1] <- 6

#Compute the conditional variance
library(ts.extend)
ARMA.var(n = N, condvals = CONDVALS, ar = AR, ma = MA)

         Time[2]  Time[3]  Time[4]   Time[5]
Time[2] 1.401380 1.996988 2.309347  2.447176
Time[3] 1.996988 3.940649 4.793826  5.189126
Time[4] 2.309347 4.793826 6.949907  7.847309
Time[5] 2.447176 5.189126 7.847309 10.019159

