When I tried, the linking command was
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g++ -lm -lpthread -ldl -DHAS_POPCNT -o scorpio attack.o scorpio.o eval.o hash.o moves.o parallel.o probe.o search.o see.o magics.o util.o
I identified the -lpthread -ldl as important because pthread_create() is in libpthread, and dlopen() and dlsym() are in libdl.