Jetson AGX Xavier USB Device Mode

The datasheet states that the Jetson AGX Xavier supports both host and device modes for USB 2.0 and 3.0. Is this true for all ports?

My understanding is that the device detects the VBUS from the host, and then pulls up D+ or D- to let the host know it is present. I am not sure how the AGX will achieve this since the VBUS is not connected directly through the carrier board. For example, if I connect the host to J507 (eSATA/USB Type A connector), the VBUS does not go anywhere. How does the AGX know something is plugged in?

Please check adaptation guide.
Detailed information is in For an OTG (On-The-GO) Port
On Xavier developer kit, it is enabled in J512 port.