Jetson Nano hardware diagnostics?

Are there any diagnostics one can run to verify Jetson Nano hardware is functioning correctly? I’m specifically interested in the CSI interface (because of

It would be great if there’s a utility used to verify boards in the factory that could be shared with the community…

To verify that the I/O pins work, you need a hardware fixture that can provide and sense expected signals, and/or loop back outputs to inputs.
The CSI control circuitry can work just fine, but if you’re having problems talking to a camera module, it’s either a configuration problem in the device tree, or it’s a physical connection hardware problem, which the CSI interface hardware wouldn’t be able to sense on its own.