For Unix-alikes, GDAL (>= 2.0.1), GEOS (>= 3.4.0) and Proj.4 (>= 4.8.0) are required.

sudo add-apt-repository ppa:ubuntugis/ubuntugis-unstable
sudo apt-get update
sudo apt-get install libudunits2-dev libgdal-dev libgeos-dev libproj-dev libsqlite0-dev

https://github.com/r-spatial/sf?tab=readme-ov-file#ubuntu