Modprobe: FATAL: Module peak_pci not found in directory /lib/modules/4.9.253-tegra

What is your “uname -r” output? If you built a kernel, perhaps the module was built for a different kernel. The kernel will always search for modules at:
/lib/modules/$(uname -r)/kernel
(and “uname -r” is from the combination of the kernel base version and CONFIG_LOCALVERSION)

See:
find /lib/modules -name 'peak_pci*'

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