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