Video scaling with GStreamer element 'videoscale' and 'nvdrmvideosink set-mode=1'

Please try with fakesink:

sudo gst-launch-1.0 -e nvv4l2camerasrc device=/dev/video0 ! 'video/x-raw(memory:NVMM), format=(string)BGRx, width=(int)2504, height=(int)1438, framerate=(fraction)30/1' ! nvvidconv ! 'video/x-raw(memory:NVMM), format=(string)RGBA, width=(int)3840, height=(int)2160' ! fakesink

Not sure but BGRx may be a wrong format since default nvv4l2camerasrc only supports UYVY.

For launching v4l2 source, please refer to steps in Jetson Nano FAQ