first
replace #include <rpc/xxx> by #include <tirpc/rpc/xxx>
second
and there are some problems in '/usr/include/tirpc/rpc' directory, cd into it , then
grep '#include <rpc' ./ -lr | xargs sed -i 's/#include <rpc\//#include <tirpc\/rpc\//g'
grep '#include <netconfig' ./ -lr | xargs sed -i 's/#include <netconfig.h>/#include \"..\/netconfig.h\"/g'
finally
make results LDFLAGS=-ltirpc
the problem will be fixed, tested successfully on manjaro 20