$ sudo apt-get update
$ sudo apt-get install libusbmuxd-dev 

libusbmuxd-dev is installed in your system.

Make ensure the libusbmuxd-dev package were installed using the commands given below,

$ sudo dpkg-query -l | grep libusbmuxd-dev *

You will get with libusbmuxd-dev package name, version, architecture and description in a table

libusbmuxd-dev package basic information: