Is it correct that you replaced “/boot/Image”? If so, did you set up “CONFIG_LOCALVERSION”? If not, then the kernel won’t be able to find the modules.
The command “uname -r” is a combination of the base kernel version, plus the CONFIG_LOCALVERSION. The default CONFIG_LOCALVERSION for Jetsons is “-tegra”. Thus, if you do not have this in the Image’s config, then “uname -r” will not match: CONFIG_LOCALVERSION='-tegra'
The modules are searched for at: /lib/modules/$(uname -r)/kernel/