Live Rtsp stream at server and save video at client side using Gstreamer

Not sure but your server is on Jetson Nano and your client is on AGX Xavier? Please help confirm this.

For running a RTSP sever on Jetson platforms, you can use test-launch. Please refer to steps in Jetson Nano FAQ
Q: Is there any example of running RTSP streaming?

Your source is a IP camera and the pipeline will be like:

"rtspsrc ! rtph264depay ! h264parse ! nvv4l2decoder ! nvv4l2h264enc ! h264parse ! rtph264pay name=pay0 pt=96 "