I can run the realsense_viewer on NX with J4.4 DP not sure if the firmware update help it or not.
nvidia@nvidia-desktop:~$ rs-fw-update -l
connected devices:
- Name: Intel RealSense D435, serial number: 825312071783, update serial number: 824613020664, firmware version: 05.12.05.00, USB type: 3.2