Quick Edit, libpruio is installed with every image/kernel/release going back a few years. 
It get’s installed with the meta-package: [ARMHF] Debian 10.x/11.x/12.x Kernel Updates
since you didn’t mention a specific verison, i’ll just use 5.10.x:
sudo apt update
sudo apt install bbb.io-kernel-5.10-bone
this runs:
Package: bbb.io-kernel-5.10-bone
Section: metapackages
Architecture: armhf
Pre-Depends: linux-image-5.10.199-bone77,
Depends: ${misc:Depends}, bbb.io-kernel-tasks (= ${source:Version})
Recommends: libpruio-modules-5.10.199-bone77
Description: BeagleBoard.org 5.10-bone for am335x
This metapackage will install linux-image-5.10-bone for am335x in Debian.
Which pulls in libpruio-modules-5.10.199-bone77
Like i said, just used 5.10.x as an example…
Regards,