hello khang.l4es,
recap from Topic 226574,
you may follow below to update rce-fw on Xavier series.
please download and update binary file, $OUT/Linux_for_Tegra/bootloader/camera-rtcpu-t194-rce.img
you should perform partition flash to update camera firmware, $ sudo ./flash.sh -r -k rce-fw jetson-xavier-nx-devkit mmcblk0p1