Hi,
If you use Jetpack 6.0GA(r36.3), please check if certain kernel configs have to be enabled for the function. The defconfig is close to upstream kernel and for certain functions, you would need to manually enable the functions.
I’m using Jetpack 5.1.2 and have enabled the following kernel configs
Device Drivers -> USB support -> USB Gadget Support -> USB Gadget Drivers-> USB functions configurable through configfs -> HID function
and Device Drivers -> USB support -> USB Gadget Support -> USB Gadget Drivers-> USB gadget drivers -> HID gadget