Hi,
If you boot up the system and can see the device tree is correct. usb2-3 is enabled, set to host mode, and has vbus pin configured. usb3-3 is enabled and companioned with usb2-3. Then the device tree looks fine for a USB3 type-A port. For next, please try to disable and then enable regulator to trigger re-enumeration:
Switch on and off usb ports programmatically on AGX - #5 by DaneLLL
To see if it can be enumerated as USB3 device. Your regulator may be different from Xavier developer kit so please disable/enable the one supplying to the usb2-3/usb3-3 port.