How to receive headers of the internet/transport layers?

Question

In a program written in C and running on Linux, I use a socket to receive data sent using the IPv4 UDP protocol. In this setup, when performing the recv system call, I currently receive the payload portion of the UDP messages. I would like to receive not only that payload but also the UDP header and the IPv4 header portions (as they are received on the wire).

I am aware that the system call recvmsg can provide access to some of the information located in those headers but that's not what I am looking for. I am also aware of raw sockets (here) as well as packet sockets (here), I am fine with a solution using such sockets as long as it does not require special privileges (like CAP_NET_RAW for example). I am fine with any solution which also includes the header of the link layer protocol (Ethernet, WiFi, ...).

I am working with a piece of code that was designed to receive entire IP packets. I am trying to get a suitable input for that piece of code. I could try to prefix the UDP payloads I am currently receiving with forged headers (using info from recvmsg) but I am not entierely sure that this can be done without creating issues downstream and I was hoping to find a better/simpler/safer alternative. Raw sockets look great but they seem to require special privileges even for this particular use case (reception of UDP messages)