ModuleNotFoundError: No module named ‘jetson’

You can set the versions of Python that jetson-inference looks for when building the bindings here:

You can install Python 3.6 wheels for PyTorch from: PyTorch for Jetson
Just pick one for JetPack 4 (up to PyTorch 1.10) and use the right version of pip when installing it

See here for running the jetson-inference docker container: