hello chengang1,
do you have only single IMX477 connected?
it looks one of sensor registration has failed.
[ 12.435040] imx477 9-001a: tegracam sensor driver:imx477_v2.0.6
[ 12.736001] tegra-camrtc-capture-vi tegra-capture-vi: subdev imx477 9-001a bound
...
[ 13.037950] imx477 10-001a: imx477_board_setup: error during i2c read probe (-121)
[ 13.048572] imx477 10-001a: board setup failed
[ 13.054117] imx477: probe of 10-001a failed with error -121
the error message, dmabuf_fd it’s related to buffer surfaces allocation failure, which may due to no sensor frames,
you may try an alternative ways to select sensor-id to enable the camera stream,
for example,
$ gst-launch-1.0 nvarguscamerasrc sensor-id=X ! 'video/x-raw(memory:NVMM),framerate=30/1,format=NV12' ! nvvidconv ! xvimagesink