ASSERT TerminalConIn.c(2078): ((BOOLEAN)(0==1))

It looks like indeed an issue for Xavier because we saw following code in flash.sh

2326 mkfilesoft tbcdtbfile   "${TBCDTB_FILE}" "${DTB_DIR}/${DTB_FILE}";
2327 if [ "${CHIPID}" = "0x23" ]; then
2328 mkfilesoft tbcdtbfile   "${TBCDTB_FILE}" "${DTB_DIR}/${TBCDTB_FILE}";
2329 fi;

Only chip id == 0x23 (orin) will take TBCDTB_FILE. The rest of platforms still use kernel one as file. Please try to modify above also to TBCDTB_FILE and see if that works.