Unfortunately, there seems to be no such list of libraries required to run MCR (not to mention MATLAB itself). In fact, i've seen cases where even "officially supported" Linux distros were lacking libraries required for a particular functionality of MATLAB or Simulink. The list of required libraries also changes from version to version.
You are on the right track of inspecting MCR's libraries by your own.
I would recommend using "readelf -d" to list only direct dependencies of a shared library (unlike ldd listing dependencies recursively). This should be faster and more secure than using ldd.