In the meantime, I have found a workaround, which may be useful to others who want to do the same as me.
Copy the tools from nearest kernel:
apt install linux-tools-5.11.0-22-generic
cp -r /usr/lib/linux-tools/5.11.0-22-generic /usr/lib/linux-tools/$(uname -r)
Then you can use usbip, like this:
echo "load usbip-core kernel module"
ssh root@odroidc4 "(lsmod | grep usbip_core) || modprobe usbip-core"
echo "load usbip-host kernel module"
ssh root@odroidc4 "(lsmod | grep usbip_host) || modprobe usbip-host"
echo "start usbipd daemon"
ssh root@odroidc4 "pidof usbipd || usbipd -D"
echo "available devices:"
ssh root@odroidc4 "usbip list -l"
echo "binding device 1-1.4 to usbip"
ssh root@odroidc4 "usbip bind -b 1-1.4"
echo "attaching to remote device 1-1.4"
usbip attach -r odroidc4 -b 1-1.4
