Somewhere between versions 11.0 and 11.1, G4VisExecutive.icc always adds G4ToolsSGOffscreen, but geant4-config.in does not yet have it in vis_libs which leads to a linking error.
This is already fixed on the development branch, and will be fixed in the next patch to 11.1. Whilst a patch to 11.0 is technically possible, it requires more work due to the complexity of setup of ToolsSG in that release.