I have tested this without connecting a monitor, and it works. However, I need to verify one point: after flashing JetPack, have you never connected a monitor to configure the Orin Nano?
Do not use nvv4l2h264enc on Orin Nano devices; it will not work due to the absence of the necessary hardware module. x264enc is recommended.
Please refer to this FAQ, for this sence, it provided a detailed resolution.