If there's only one perl installed on each machine, it makes no sense to include its version into the path. Install the modules into the same path on both the machines and you can use the same script.

If you insist on having the Perl version included in the path and not having Perl configured to search for modules there, you can use something like

use lib '/home/foo/perl_modules/' . substr($^V, 1) . '/lib/perl5';
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But why?