Installing cuDNN Debian Packages

sudo apt install ./cudnn-local-repo-ubuntu2004-*amd64.deb
sudo cp /var/cudnn-local-repo-ubuntu2004-8.4.1.88/cudnn-local-4B348671-keyring.gpg /usr/share/keyrings/
sudo apt update
sudo apt install libcudnn8
sudo apt install libcudnn8-dev
sudo apt install libcudnn8-samples

Install the cuDNN Debians for cross-compiling on Linux:

dpkg -i cudnn-local-repo-cross-aarch64-ubuntu2004-8.4.1.88_1.0-1_all.deb
sudo cp /var/cudnn-local-repo-cross-aarch64-ubuntu2004-8.4.1.88/cudnn-local-3D0A6E31-keyring.gpg /usr/share/keyrings/
sudo apt update
sudo apt install libcudnn8-cross-aarch64