hello jj666,
I would like to emphasized that again, you’ll need hardware changes to connect your IMX219 to Xavier.
please also check the Raspberry PI v2 camera and NVIDIA Jetson AGX Xavier Camera Module Hardware Design Guide.
even using the same sensor driver, you still need to double check the i2c, and regulator settings due to different hardware.
that is the location of the l4t tarball extract path, for example, device tree changes should extract it as /kernel_src/hardware/…