since Xavier and NX were sharing the same chip version, you may access Xavier TRM for reference.
please check [Table 8.54 GPIO’s in Different Pad Control Groups] for the PAD control groups of GPIO controller.
you should also found the register address mappings in [8.5.4 PinMux Registers] session.
I wanted to make j12 Header 29 pin high in the development kit, but I wrote it to the register as follows, but it did not become high.
(j12 Header 29 = gpio01 = SOC_GPIO41)
Write value 0x00000009 to 0x02430028 address.
Do you need to change the pinmux settings?
When setting Output, Drive 0 with pinmux excel, the register to write the setting and output setting to the CFG file was displayed.
It turned out that it would not be necessary to change the kernel if the GPIO settings were changed in the program.