Hi zqpm,
We strongly suggest you migrate to the latest r24.2.1.
However, if you inevitably have to stay on r23.2, probably you can try to port the FW and source code of xhci driver from r24.2.1 to r23.2:
FW path:
/lib/firmware/tegra21x_xusb_firmware
xhci driver:
kernel\drivers\usb\host\xhci*