I’m having a similar issue with the same hardware, a D435i and a Xavier NX. I can confirm following the steps listed above leaves realsense-viewer unable to detect the Realsense. I am able to detect and read from the device by installing version 2.32 from the apt repository as guided here (Intel’s Linux instructions; notably, I have to skip the dkms package but it “works” without this step) and here (the install script simply adds the same repository and apt-get installs the same packages).
However, while I’m able to run realsense-viewer and enable the depth and color streams successfully, when I disable and re-enable them, they stop working. Realsense-viewer reports “no frames received” for each until I either reconnect the hardware to the Jetson or use the “Hardware reset” option in realsense-viewer. People are reporting similar problems on this git issue. I’ve cross-posted my info there as well.