Dual licensing for open source project?

I've got a few open-source projects that I spent quite a bit of time on and which I'm about to release. Most of them try to make life easier for developers. I'm aware that this is a really crowded space, and the chances to find a way to make any money out of this are minuscule, esp. it all being open-source. I'm fine with that though.

I've settled on licensing the code (mostly, except for some low-level libraries) GPLv3. One thing I'd like to do is being able to dual-license the code in case somebody wants to use it in their own commercial projects, without having to adhere to the GPL.

This would be easy if I was the only contributor. For the (probably, but hopefully not) unlikely case I'm getting outside contributions/pull-requests this would make things more difficult though, I imagine.

How do people usually deal with this? Could I ask people to only create pull-requests/contributions with an attached permissive license (e.g. Apache) for the code in question? I know of metafizzy ( https://packery.metafizzy.co/license.html ), who seem to dual-/triple-license some of their projects. I'm not quite sure how they treat 3rd-party contributions though.

Any pointers for strategies/wording for all this?