I don’t know which .deb packages would be of use, but you can explore what libraries gdb server and other apps need via the “ldd” application, e.g., “ldd /where/ever/it/is/your_cuda_app”. Find out whether the actual lib is a sym link or hard link, and list the package owning the hard link. Some libraries not installed via dpkg will not have a package listed…keep those files plus the entire package when a package is known to own the file.
For packages in general most of the “-dev” package names can be removed (typically these provide header files to compile against). See “dpkg --list” or “dpkg --list | egrep -i '-dev '”.