This time, I built with —with-arm option and tried again. It still fails but with different error message.
pi@raspberrypi ~/audit-2.4.4 $ grep arm config.status
ac_cs_config="'--with-arm'"
set X /bin/bash './configure' '--with-arm' $ac_configure_extra_args --no-create --no-recursion
host='armv7l-unknown-linux-gnueabihf'
build='armv7l-unknown-linux-gnueabihf'
sys_lib_search_path_spec='/usr/lib/gcc/arm-linux-gnueabihf/4.9 /usr/lib/arm-linux-gnueabihf /usr/lib /lib/arm-linux-gnueabihf /lib '
sys_lib_dlsearch_path_spec='/lib64 /usr/lib64 /lib /usr/lib /opt/vc/lib /lib/arm-linux-gnueabihf /usr/lib/arm-linux-gnueabihf /usr/lib/arm-linux-gnueabihf/libfakeroot /usr/local/lib '
S["target_cpu"]="armv7l"
S["target"]="armv7l-unknown-linux-gnueabihf"
S["host_cpu"]="armv7l"
S["host"]="armv7l-unknown-linux-gnueabihf"
S["build_cpu"]="armv7l"
S["build"]="armv7l-unknown-linux-gnueabihf"
pi@raspberrypi ~/audit-2.4.4 $ sudo src/auditctl -a exit,always -S execve
Error sending add rule data request (Invalid argument)