In my Jetson Agx Xevier in 2020, below command is worked.
sudo rm /usr/lib/aarch64-linux-gnu/libdrm.so.2
sudo -H ln -s /usr/lib/aarch64-linux-gnu/libdrm.so.2.4.0 /usr/lib/aarch64-linux-gnu/libdrm.so.2
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