Hi,
It looks like the camera sensors are not stable on Jetpack 5.1. Please try gst-launch-1.0 command ad check if the issue is present:
$ gst-launch-1.0 nvarguscamerasrc exposurecompensation=-1 sensor_id=0 ! fakesink nvarguscamerasrc exposurecompensation=-1 sensor_id=1 ! fakesink