Not related to xmrig-cuda per se but it's worth pointing out for people like me that have to go through the error-prone process of building from source.
A workaround is to compile with GCC 9:
cmake -DCMAKE_C_COMPILER=gcc-9 -DCMAKE_CXX_COMPILER=g++-9 -DCUDA_TOOLKIT_ROOT_DIR="/usr/lib/cuda" .
cmake --build .
Same issue in another repo: kokkos/kokkos#4334