Question

  CXX      stap-util.o
util.cxx:51:10: fatal error: elfutils/debuginfod.h: No such file or directory
   51 | #include <elfutils/debuginfod.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

Answer

configure with

./configure --host=mipsel-linux --without-avahi --without-debuginfod --without-nss

instead of below command:

./configure --host=mipsel-linux -without-avahi --without-nss