hello D3_cwhite,
please download r32.3.1_debug_rce-fw.zip (148.4 KB) from the attachment.
it’s debug RTCPU firmware for JetPack-4.3 on AGX Xavier.
please back-up the original firmware and replace this as below.
$ cp r32.3.1_debug_camera-rtcpu-rce.img $OUT/bootloader/camera-rtcpu-rce.img
you may perform partition update to update rce-fw partition.
for example,
$ sudo ./flash.sh -r -k rce-fw jetson-xavier mmcblk0p1