I am building from the 4.10 released source on a pretty fresh install of ARM Debian Linux.
All other required dependencies error out during ./configure as expected with the name of the library missing.
The error message says:
WARNING: 'makeinfo' is missing on your system. You should only need it if you modified a '.texi' file, or any other file indirectly affecting the aspect of the manual. [...]
The way to fix this is to apt install texinfo. Note this may be a bug with make and configure tools and not sdcc's setup.
AFAIK, the program used is makeinfo. I think on Debian and Ubuntu, the makeinfo binary is part of the texinfo package.