The “pyconfig.h” header lives in a python-version-specific subdirectory. Some 
of the compiler invocations earlier in the build log contain 
“-I/usr/include/python3.10”, but the one that is failing does not.

I haven’t tried it, but I would guess that something like the following would 
resolve the problem. The libraries may or may not be necessary—I didn’t take 
time to investigate.

--- blender-2.93.0-original/source/blender/io/usd/CMakeLists.txt        
2021-04-21 10:23:41.000000000 -0400
+++ blender-2.93.0/source/blender/io/usd/CMakeLists.txt 2021-06-24 
13:02:05.568490263 -0400
@@ -53,6 +53,7 @@
   ${USD_INCLUDE_DIRS}
   ${BOOST_INCLUDE_DIR}
   ${TBB_INCLUDE_DIR}
+  ${PYTHON_INCLUDE_DIRS}
 )
 
 set(SRC
@@ -86,6 +87,8 @@
 
 list(APPEND LIB
   ${BOOST_LIBRARIES}
+  ${PYTHON_LINKFLAGS}
+  ${PYTHON_LIBRARIES}
 )
 
 list(APPEND LIB
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