$ sudo apt-get update
$ sudo apt-get install libusbmuxd2 

libusbmuxd2 is installed in your system.

Make ensure the libusbmuxd2 package were installed using the commands given below,

$ sudo dpkg-query -l | grep libusbmuxd2 *

You will get with libusbmuxd2 package name, version, architecture and description in a table

libusbmuxd2 package basic information: