Nvv4l2h265enc iframe distortion during streaming on AGX Orin

Hi,
Setting bitrate to 500Mbps seems to be a very large value for 1080p60. Please try like 10Mbps, 20Mbps, 40Mbps. And vbv-size looks small. Please refer to example in
Random blockiness in the picture RTSP server-client -Jetson TX2 - #5 by DaneLLL

And for further debugging, you can save the steam to a file:

gst-launch-1.0 -v nvv4l2camerasrc device=/dev/video0 ! 'video/x-raw(memory:NVMM), format=(string)UYVY,framerate=(fraction)60/1' ! nvvidconv ! 'video/x-raw(memory:NVMM), format=(string)NV12, framerate=(fraction)60/1' ! queue max-size-buffers=3 leaky=downstream  ! nvv4l2h265enc maxperf-enable=1 bitrate=500000000 iframeinterval=300 vbv-size=33333 insert-sps-pps=true control-rate=constant_bitrate profile=Main num-B-Frames=0 ratecontrol-enable=true preset-level=UltraFastPreset EnableTwopassCBR=false ! queue ! h265parse ! video/x-h265 ! filesink location=test.h265

And decode it by 00_video_decode. To ensure video quality is good without effect of network.