yes I have put my xavier to recovery mode, by connecting to power, hold recovery bottom and hold reset button and release reset button and then release recovery button,
yes my Xavier is a dev kit not custom board
hbrain@Hbrain:~/Downloads$ lsusb
Bus 006 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 005 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 004 Device 008: ID 2109:0822 VIA Labs, Inc. USB3.1 Hub
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 022: ID 046d:c548 Logitech, Inc.
Bus 003 Device 021: ID 3434:0280
Bus 003 Device 012: ID 2109:2822 VIA Labs, Inc. USB2.0 Hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 002: ID 174c:3074 ASMedia Technology Inc. ASM1074 SuperSpeed hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 057: ID 0955:7019 NVIDIA Corp. APX
Bus 001 Device 002: ID 174c:2074 ASMedia Technology Inc. ASM1074 High-Speed hub
Bus 001 Device 008: ID 8087:0032 Intel Corp.
Bus 001 Device 006: ID 05e3:0608 Genesys Logic, Inc. Hub
Bus 001 Device 005: ID 0b05:1996 ASUSTek Computer, Inc. USB Audio
Bus 001 Device 004: ID 0b05:18f3 ASUSTek Computer, Inc. AURA LED Controller
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
hbrain@Hbrain:~/Downloads$