FLIR Lepton Streaming from Pi Zero to Nano

You may use RTSP streaming. Please refer to
Jetson Nano FAQ
Q: Is there any example of running RTSP streaming?

The server is raspberry pi zero. You can run test-launch on it to launch a RTSP server. The nvv4l2h264enc can be replaced with hardware encoder of pi zero or software encoder x264enc. Jetson Nano is the client and you can run

$ gst-launch-1.0 uridecodebin uri=rtsp://<SERVER_IP_ADDRESS>:8554/test ! nvoverlaysink