That's a general problem, not Arduino-specific: Microcontrollers provide signals in the range of the supply voltage (usually 3.3 or 5 V) minus some 100 mV, with maximum currents between 5 and 20 mA. This isn't enough for usual motors, so, additionally to the microcontroller hardware, one, two, or four power transistors are required, in most cases plus some drivers.
For the decision on the structure (including the number of power transistors), the crucial question is: Should the motor just be switched on and off or should it be able to turn in both directions, and should it run at different speeds (by applying pulse width modulation (PWM))?
For the decision on the power transistors (or an IC comprising these transistors and the drivers), the crucial question (besides the voltage) is: How much current is to be expected in the worst case (motor starts under max load)?
If you could answer both questions, I might be able to be more specific.
You could use a step-up dc-dc converter to produce the voltage required from 5V supply, and an uln2003 to interface arduino and the motor. That's the basic idea, but it needs to be fine-tuned to your specific application.
https://www.researchgate.net/publication/357794363_Design_and_Implementation_of_a_Dual-Axis_Solar_Tracking_System_STS
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