Hi,
For low latency we would suggest use jetson_multimedia_api. The low-level APIs does not go through gstreamer frameworks and this eliminates certain latency. You may try the samples:
/usr/src/jetson_multimedia_api/samples/09_camera_jpeg_capture/
/usr/src/jetson_multimedia_api/samples/10_camera_recording
And please enable VIC engine(hardware converter) at maximum clock:
Nvvideoconvert issue, nvvideoconvert in DS4 is better than Ds5? - #3 by DaneLLL