nvcamerasrc uses a special path through ISP able to convert into several formats such as I420.
v4l2src only uses V4L interface. Check formats/modes that your driver provides:
v4l2-ctl -d /dev/video0 --list-formats-ext
(v4l2-ctl is provided by package v4l-utils)
You would first try one of the listed formats/modes.