I had this Bluetooth pairing problem few days back. I did the following steps and it resolved the issue. please check.
To enable Bluetooth audio
1.Navigate to this file:
2.Use a text editor to change this line…
ExecStart=/usr/lib/bluetooth/bluetoothd -d --noplugin=audio,a2dp,avrcp
(That is, delete the ‑‑noplugin switch and all of its values.)
3.Enter these commands to update the apt-get package list and install the pulse audio package:
$ sudo apt-get update
$ sudo apt-get install pulseaudio-module-bluetooth
4.Enter this command to reboot the Jetson device:
$ sudo reboot
5.When the reboot is complete, pair and connect any Bluetooth headset.
I used this reference from Jetson Linux developer guide-
enabling bluetooth audio section:
the document did say it applies to: Original Jetson TX2 and Jetson TX2i but worked for me.
disclaimer: i am new to Jetson Xavier NX and learning, answering with very limited knowledge. please ignore any mistakes or errors. thanks.