Is it possible to build an `nvidia/cuda`-based image on a server without a GPU?
It sounds like you may need to load the nvidia components possibly including any proprietary blobs and kernel modules. If the modules are not present, this could be why the compile error (missing dependencies).
But from this website https://docs.nvidia.com/datacenter/tesla/tesla-installation-notes/index.html it looks like the drivers are looking for the hardware when they load, which is probably why they are not available when you attempt to compile.