Hi,
Please try CBR + setting virtual buffer size:
Random blockiness in the picture RTSP server-client -Jetson TX2 - #5 by DaneLLL
To find out a setting which balances between bitrate and video quality.
And here is a method for reducing CPU usage of K5.10:
UDP client CPU utilization has increased on Jetpack 5 - #6 by SanjayD
Please try and see if it helps the use-case.