I have not done this, but some explanation may help clarify. This is under USB2 or older; USB3 cables differ, but technically there is still only a host or device…type-C is a mix of of cables and may be physically interchangeable at each end, but electrically the following still applies.
USB forbids a type-A connector going to another type-A connector. Type-A is defined for host, type-B is defined for device. All communications is controlled by host, the pipe is not symmetric the way ethernet is. One end must have a type-B connector. The micro-OTG port of the Jetson is capable of this (OTG accepts either type-A or type-B, but an ID pin makes one and only one of those configurations available at any moment…non-OTG does not do this under USB2 or older), but not programmed to do so. Customization would be required.
The Linux kernel “gadget” framework is designed to somewhat simplify doing this, and is probably where you should start if you are going to build this yourself. There may already be some third party solutions out there under the gadget framework so the OTG port could look like an ethernet card or look like USB mass storage (the Jetson would be a device, the host would be the other computer using the USB device).
If you just want communications, you may be better off just using ethernet.