hello wxsrite,
there’re couple of camera stack bug fixes on JP-5.1.2/ r35.4.1
please give it a try to apply the fixes for testing.
for instance,
Topic 268833, camera firmware to update deskew algorithm, and also stability fixes
Topic 268519, fix memory corruption within libnvargus
anyways, please moving to the lates JP-5 release version, i.e. Jetpack-5.1.3 for verification if that’s possible.