I hit the same problem which I believe was due to a previous install of apr and apr-util.
When I looked at failing compile line it was
/mydir/httpd/httpd-2.4.33/srclib/apr/libtool
--silent
--mode=compile gcc
-std=gnu99
-g
-O2
-pthread
-DLINUX
-D_REENTRANT
-D_GNU_SOURCE
-I.
...
-I/usr/include/apr-1
...
i.e. pointing at older version include files
I added symbolic links
ln -s /mydir/httpd/httpd-2.4.33/srclib/apr ~/apr/apr-1.6.3
ln -s /mydir/httpd/httpd-2.4.33/srclib/apr-util ~/apr-util/apr-util-1.6.1
so that apr and apr-util were unpacked within httpd srclib folders (as per
http://httpd.apache.org/docs/2.4/install.html "Requirements) then
./configure \
...
--prefix=/usr/local/httpd-${HTTP_VERSION} \
...
--with-apr=srclib/apr \
--with-apr-util=srclib/apr-util \
...
worked
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