If I may at least partially answer my own question (just in case this is of use to anyone else):
It looks like the malloc error message that I added to my previous post is a known problem. See here
So it looks like this was happening because I was trying to do the [cross-]compilation on an Ubuntu 22.04 host. Creating a clean 20.04 virtual machine did the trick. At least, I was then able to build my static library containing the GOU (CUDA) code, which seems to run – albeit not quite as quickly as I had hoped it might – on my Orin Developer Kit. My mistake for using what is, I suspect, an unsupported operating system level.
Having said that, I would still be very grateful for any advice or pointers to documentation that describes how best to configure (e.g. build parameters) Eclipse for cross-compiling CUDA code to run on Orin. It seems very likely that there may be ways to optimise code that I am not aware of. (Very likely, in fact!)
Thanks …
Andrew