Eu encontrei o arquivo de regras no seguinte local:
~/.arduino15/packages/Intel/hardware/arc32/2.0.2/scripts/create_dfu_udev_rule
e executou os seguintes comandos para resolver o problema:
chmod u+x ~/.arduino15/packages/Intel/hardware/arc32/2.0.2/scripts/create_dfu_udev_rule &&
sudo ~/.arduino15/packages/Intel/hardware/arc32/2.0.2/scripts/create_dfu_udev_rule