My orin jetpack version is 5.1.2, L4T 35.4.1 use command to get camera stream：
v4l2-ctl --verbose -d /dev/video0 --set-fmt-video=width=2880,height=1860,pixelformat='UYVY' --stream-mmap=4
The camera fps is normal.
I hot-plug the camera and reset the camera, v4l2 cmd still run.
Video streaming and fps can be restored.
However, you can see that “vi-output,fzca” takes up 100% of a cpu
Turning off the v4l2 instruction can be eliminated.
With gstreamer, no problem
I also had this problem with jetpack 5.1.0.
Refer to questions from other developers：
I upgraded the version and the problem still exists.
Please help check if it is a bug and has not been fixed. Or VI is incompatible with v4l2