If the steps the others mentioned above don’t work, the “Python 3.5.3 : missing development headers” error sounds like you may need to install development headers:
sudo apt-get install python3-dev
Or if that doesn’t fix the issue, possibly:
sudo apt-get install python3.5-dev
If you are comfortable using git, we have some code for the Tinker Board in progress in a branch on the public Cayenne-Agent repo here: https://github.com/myDevicesIoT/Cayenne-Agent/tree/feature/tinker-board-support
That’s not fully tested and must be installed and launched manually but you can try that if you would like. It should support most of the Pi functionality, except for 1-wire devices, which the Tinker Board does not currently support.
Otherwise, like Rob mentioned, the BYOT method is the most flexible so that might be a better option if you have difficulties with the Cayenne-Agent code.