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If you get this error:

$ sudo usbip attach -r gud-pi.local -b usbip-vudc.0
libusbip: error: udev_device_get_sysattr_value failed
usbip: error: open vhci_driver

and have a device with a name following lexicographically after vhci_hcd:

$ ls -l /sys/devices/platform/
<...>
drwxr-xr-x  5 root root    0 Apr  7 13:40  vhci_hcd.0
drwxr-xr-x  3 root root    0 Apr  7 13:04  wifi-pwrseq

then you've hit this bug: usbip: fix vhci_hcd controller counting (fixed in Linux 4.20)

On Raspbian 10 install the backports version:

$ cat /etc/os-release
PRETTY_NAME="Raspbian GNU/Linux 10 (buster)"

$ wget http://ftp.us.debian.org/debian/pool/main/l/linux/usbip_2.0+5.10.19-1~bpo10+1_armhf.deb
$ sudo apt install ./usbip_2.0+5.10.19-1~bpo10+1_armhf.deb

Ref: https://packages.debian.org/buster-backports/usbip

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