Scenario In the Loop testing

In order to perform Vehicle-in-the-Loop and/or Scenario-in-the-Loop testing, what is the minimum set of hardware tools needed (assuming to use virtualized ranging sensors)? Is it possible with just one DRIVE AGX Orin DevKit?
And if yes, how the DRIVE AGX Orin DevKit is connected with NVIDIA DRIVE SIM? What is the toolchain?

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