From the log you shared, I2C slave driver has been probed as expected.
Yes, you have to write your own driver for your use case and the properties in device tree should include the address like reg = <0x50> and other properties depending on what your driver needs.
Sorry that we are not clear about your I2C master(conga-Tc570r Devlopment board) and also your use case for I2C slave on Jetson. We can just give you an example and help you to enable I2C slave driver, but you still have to write your own client driver to handle for your use case.