Strangely I used the same command under path-to/JetPack_5.1.2_Linux_JETSON_ORIN_NX_TARGETS/Linux_for_Tegra/ within Ubuntu-22.04 host (while the newly downloaded and installed JetPack_5.1.2_Linux_JETSON_XAVIER_NX_TARGETS/ only available on another Ubuntu-20.04 host) and it worked even my SoM is Xavier NX.
I wonder if newer sdkmanager version for Ubuntu-22.04 includes some update that is not available in the older sdkmanager version for Ubuntu-20.04.