Furthermore, I have conducted the following verification:
1.Under the same 35.3.1 SDK and hardware, when switching to the Xavier NX SOM, the XR serial port works properly, but Orin NANO has the same error.
2.When we use a external module XR1414 on Orin NX original usb resource, the XR serial port works fine, too.（driver is the same as XR1410）
So based on the above verification, I conclude that the issue maybe related to the Orin SOM.