MIPI Clock synchronization

I’d like to know how does the TX2 synchronize the incoming data from a custom camera (with 4 data lanes + 1 clock lane). Setting up correctly the parameters in the device tree is enough? All data lanes and clock are unidirectional (from camera to TX2).

Moreover, does the TX2 fully fulfill the MIPI specifications? That is to say, the clock and data speed limits are the ones specified in the MIPI CSI-2 and D-PHY specification sheets?

Yes, setting the correct parameters in the DT is enough form the host side.
And yes TX2 fully fulfill MIPI spec. You should be able to confirm it in the TRM.