Also, please share more details about the BSP release used, any steps followed before your test like jetson_clocks.sh etc, cyclictest command used with args and result.
Please run the test after setting the below values and share the results. Hoping it to help with latencies.
-# cat /sys/kernel/debug/tegra_mce/rt_window_us
100
-# cat /sys/kernel/debug/tegra_mce/rt_fwd_progress_us
20
-# echo 0x7f > /sys/kernel/debug/tegra_mce/rt_safe_mask