On receiver Orin, you may try:
# Increase max kernel socket buffer size to 1M
sudo sysctl -w net.core.rmem_max=1000000
# Receive with setting buffer-size property of udpsrc, and use nvvidconv into a NVMM memory displaysink, so that you avoid videoconvert:
gst-launch-1.0 -v udpsrc port=5001 buffer-size=1000000 ! 'application/x-rtp,media=video,clock-rate=90000,encoding-name=RAW,sampling=YCbCr-4:2:2, depth=(string)8, width=(string)1920, height=(string)1080, colorimetry=(string)SMPTE240M, palyload=(int)96, a-framerate=30' ! rtpvrawdepay ! queue ! nvvidconv ! nv3dsink