Audiality 2 can be installed anywhere, and should be found by pkg-config if installed correctly.
Make sure you get the right version, though! (Specified in BUILDDEFS.) Normally, just building the latest master of the game + libs should work, but if you check out older versions, you may need the corresponding Audiality 2 version, as these are still development versions that break compatibility every now and then.
You can look at the install-libs script to see how things are supposed to be installed, which also covers checking out the correct versions of my libs.
(You can actually run the script to download, build, and install the dependencies, but it's really meant for virtualized build hosts, so it might install additional versions of libs you already have on the system, if they're not were the script expects them to be.)
Looks like the build is fine, as far as I can tell from that, but the game can't find the data files. IIRC, it should work if you put all of them in the user .koboredux folder. (That is, gfx and sfx should be subfolders in there.) You can run kobord with the '-debug' switch to see where it's looking for these files.