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Copy whole folder of linux-headers-5.10.59-SUNPLUS-v7+ to /usr/src of root file-system of your target.
Create a symbol link /lib/modules/5.10.59-SUNPLUS-V7+/build to /usr/src/linux-headers-5.10.59-SUNPLUS-v7+. For example:
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pi@raspberrypi:~$ sudo ln -s /usr/src/linux-headers-5.10.59-SUNPLUS-v7+ /lib/modules/5.10.59-SUNPLUS-V7+/build
pi@raspberrypi:~$ ll /lib/modules/5.10.59-SUNPLUS-v7
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Appendix: List of target headers in Makefile
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