Currently, various distributions ship udev rules for USB smartcards and crypto tokens which can be used with gnupg. It seems like it would make sense to ship them with gnupg itself, then they’re maintained in a single place, rather than in each distribution.
There’s an example rules file here; a similar one is shipped by Fedora in its nitrokey-app package.
I believe it would be better to ship a hwdb file rather than a udev rules file, but I’m unsure of the best way to do this.