How to get boot menu/shell on Xavier NX?

According to documentation,

Interrupt CBoot while it is loading the boot configurations from extlinux.conf by pressing any key.

I’ve tried hitting a key on my USB keyboard and it does nothing. I am beginning to suspect that this boot prompt will only be accessible over the serial port. Is this the case?

Hi,

Yes, you are right, this console will only show in the uart serial console.