Hi,
In UDP streaming, we can achieve target framerate and neglectable latency in running this test case:
Gstreamer TCPserversink 2-3 seconds latency - #5 by DaneLLL
Please give it a try and check if you can achieve 30 fps.
In your gstreamer command, if you have confirmed the source can steadily output in 24fps, the bottleneck can be copying CPU buffer to NVMM buffer in nvvidconv plugin. You may use nvv4l2camerasrc plugin which captures frame data into NVMM buffer directly, eliminating the buffer copy.