> The package 'libpigpiod-if-dev' should contain all the header files and object

No, it contains the header files and shared library symlinks for building
against the libpigpio-if and libpigpio-if2 libraries.

The server and direct access GPIO libraries are not packaged in Debian
because they are not compatible with Debian kernels.
In particular, pigpio relies on the userspace mainbox interface
which is only present in downstream raspberry pi foundation
kernels.

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