You are facing multipleissues. The firmware of the RealSense camera is tied to the librealsense release. If you have updated your camera firmware, you may have issues with older versions of librealsense. There have been various fixes over the years to handle these cameras, both on the RealSense and Jetson sides.
Note that the following are no longer maintained.
Here is the original article for the Xavier:
For JetPack 4.2 on Xavier, you should be using:
As noted, this may not be compatible with the version of firmware in your camera.