hello EmondCai,
please refer to Release Notes (r35.4.1), there’s stability update for the latest Jetpack release version.
furthermore, we’ve recently address some camera bugs for JP-5.1.2/l4t-r35.4.1
please see-also below threads to apply the bug fixes for verification.
for example,
Topic 268833, for camera firmware to update deskew algorithm, and also stability fixes,
Topic 268519, to fix memory corruption within libnvargus