Image exchange between multiple jetsons

A general approach is to send data to another device is to run RTSP. You may set up an RTSP server on Xavier through test-launch. Please refer to
Jetson Nano FAQ
Q: Is there any example of running RTSP streaming?

If you need to do deep earning inference, you can consider to use DeepStream SDK. We also have RTSP implementation in Sink Group:
DeepStream Reference Application - deepstream-app — DeepStream 6.1.1 Release documentation