Not really an answer, but perhaps of interest. FYI, I’m not familiar with any kernel code in standard linux distros which deal with OTG modes (and L4T is just embedded standard Ubuntu). If someone knows of kernel options to work with OTG I’d love to experiment with this.
You essentially have a physical connector which allows you to plug in either an “A” type connector, which will accept common things like a mouse or keyboard, and also the ability to plug in a “B” type connector, in which case the Jetson itself would become a device which is no different than something like a printer or external hard drive. What kind of device it becomes depends on programming. During reset for flash, device mode is the only mode it has, and it becomes a custom device capable of debug type interactions. During normal boot, after the linux kernel takes over, OTG on hardware capable of this (and Jetson hardware seems capable of this) would have to be monitored by the linux kernel for connector types and connector type change. Software or drivers put in place to hot plug mode change would switch driver mode and inform programs dealing with it to change as well.
Supposing the kernel did have software in place for device mode, and is able to switch to device mode, it could become almost anything. E.G., it could become a router, a multimedia server, so on. I suspect that because of the way smart phones have worked that people think OTG means access it as a hard drive or memory device for file copy. You could do this, e.g., reserve a place on the eMMC or an external hard drive for file sharing, but there is a lot involved in this.
Linux traditionally started out as a desktop computer for most people, or as a server. Desktop boxes and servers have rarely come with USB connectors for type “B”, so you won’t find much to do with this unless you go to Android, where smart appliances often do this sort of thing. This is one of the points of distributions like Android…drivers for hardware commonly installed on smart appliances, as well as user land software to use those drivers. What you might really be asking are these two questions: (1) Are there standard kernel drivers which work with understanding and signalling for changing between type A and type B connectors, and (B) are any of the programs for device mode operation on Android ported to other linux distributions?