I currently have an ROS2 camera info manager node running to publish images. The images are 1024*1280 RGB image. Publishing each image takes everywhere between 0.7 to 2 seconds. The exact same code running on Orin Dev Kit emulate as NX16 takes less then 10 milliseconds to publish the image.
Orin NX 16GB with Connect tech BOSON carrier.
L4T: R35 (release), REVISION 2.1