It is not possible to use nvidia-smi on a Jetson. This program/utility requires a PCI bus. Jetsons have an integrated GPU (iGPU) which is wired directly to the memory controller. Only a discrete GPU (dGPU) on a PCI slot can use that utility.
An interesting proposal for NVIDIA: Make a surrogate nvidia-smi program which looks like the original nvidia-smi to programs performing a GPU query, but have it talk instead to the iGPU. Probably not practical, but if it worked, it would make the GPU much more flexible and interchangeable with other software.
EDIT (August, 2024): The above is still true, except that Orin is able to use L4T R36.x, and there is a partial surrogate nvidia-smi with this. This is an nvidia-smi with limited functionality which might suffice in some cases, but the iGPU is still an iGPU without any PCI bus function on Orin plus R36.x.