I did it that way:
///// without RT export CROSS_COMPILE=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu- export KERN_SRC=/home/XXX/JetsonOrinAgx/35_4/Linux_for_Tegra/sources/kernel/kernel-5.10 export KERN_OUT=/home/XXX/JetsonOrinAgx/35_4/buildmake ARCH=arm64 CROSS_COMPILE=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu- LOCALVERSION=-tegra O=“$KERN_OUT” mrproper make ARCH=arm64 CROSS_COMPILE=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu- LOCALVERSION=-tegra O=“$KERN_OUT” defconfig make ARCH=arm64 CROSS_COMPILE=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu- LOCALVERSION=-tegra O=“$KERN_OUT” menuconfig make ARCH=arm64 CROSS_COMPILE=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu- LOCALVERSION=-tegra O=“$KERN_OUT” Image -j8 (Manually copy Image into Linux_for_Tegra/kernel/Image) make ARCH=arm64 CROSS_COMPILE=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu- LOCALVERSION=-tegra O=“$KERN_OUT” modules -j8 make ARCH=arm64 CROSS_COMPILE=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu- LOCALVERSION=-tegra O=“$KERN_OUT” modules_install INSTALL_MOD_PATH=build_modules sudo make O=“$KERN_OUT” modules_install INSTALL_MOD_PATH=/home/XXX/JetsonOrinAgx/35_4/Linux_for_Tegra/rootfs make ARCH=arm64 CROSS_COMPILE=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu- LOCALVERSION=-tegra O=“$KERN_OUT” dtbs -j8 (Manually copy dtbs into Linux_for_Tegra/kernel/dtb)cd to /JetsonOrinAgx/35_4/build/build_modules tar --owner root --group root -cjf kernel_supplements.tbz2 lib/modules (Manually copy kernel_supplements.tbz2 into Linux_for_Tegra/kernel)//video display HDMI/DP make modules SYSSRC=/home/XXX/JetsonOrinAgx/35_4/Linux_for_Tegra/sources/kernel/kernel-5.10 SYSOUT=/home/XXX/JetsonOrinAgx/35_4/build CC=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu-gcc LD=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu-ld.bfd AR=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu-ar CXX=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu-g++ OBJCOPY=/home/XXX/JetsonOrinAgx/aarch64–glibc–stable-final/bin/aarch64-buildroot-linux-gnu-objcopy TARGET_ARCH=aarch64 ARCH=arm64 (Manually copy nvidia-drm.ko, nvidia.ko, nvidia-modeset.ko into /JetsonOrinAgx/35_4/Linux_for_Tegra/rootfs/lib/modules/5.15.148-tegra/extra/opensrc-disp)sudo ./flash.sh jetson-agx-orin-devkit mmcblk0p1