Thanks for the report, glad it works on later androids.
If you are compiling it yourself it would be "new" by default. I changed it by editing the meson_options text file in the source, so if that is left unaltered that setting would be theoretically what is optimum for later phones, but maybe not a critical thing.
Anyway the answer to making a .pet once everything is compiling and installing is to run new2dir ninja -C builddir install (equivalent of using "new2dir make install" if using autotools and gnu make) and then of course dir2pet on the package directory tree that is created.
I did have to tinker around with things a bit. Not all those dependencies in that list need to be installed as some are in the devx. When I tried to apt install libsdl2-dev it complained about some dependency version mismatch so I compiled latest libsdl2 from source. I did have to apt install libavdevice-dev with dependencies. The libusb-1.0-0-dev package goes in via apt but the shared library is already present.
In the install script I had to edit the download path to the prebuilt server from version 2.3.1 to version 2.4 as it was grabbing the wrong version which refused to run. I also had to edit the sha sum because the script does a check of that. I think the git master checkout has this corrected now, but in the release tarball it has not been updated.
I did initially use apt to install the Debian adb which did work and helped me to see where it went in the file system. It has a symlink into PATH. Sticking with this would have been an option but I decided to try substitution of the latest official version and removal of the then unneeded shared libs.