My Tx2 boot takes about 10min, and I found a strange process=rtirq

I checked the boot services and found the rtirq takes about 5min, it related to the audio . Eneryone know how to shutdown this service or does it affect the system.

I don’t know what is going on there, but apparently rtirq is for realtime audio (from what I found this is typically used by people with music applications, although anything audio might benefit). There are probably configuration changes which could make this work if audio is actually being used, but before trying to actually “fix” anything you might find it useful to test if disabling the service itself helps:
sudo systemctl disable rtirq.service
…then reboot.