Vulkan on AGX Xavier and Otion dev kits


I am looking into a Vulkan API (switching from OpenGL), and I am wondering if anyone here used it on both platforms running on Jetpack 5.1.2.

IMPORTANT: I like to run without X11/Wayland running (Desktop disabled on boot). I like to drop to runtime level 3 and develop a full-screen app, I see there is also SDL2 with Vulkan support, which might be easier to just try first.
At least like to start the app, do minimal initialization, and teardown, load some PNG files, and just display them. The 3d part I will look later.

If I am correct Vulkan 1.3 is available with Jetpack.
I found this nvidia link, where at the bottom there is an option to download Vulkan But it contains cmake file.

Is there a specific device in “/dev/” that I need to check?
Does Jetpack 5.1.2 include some Vulkan or SDL2/Vulkan sample source code?

I believe EGL in run level 3 is not supported and Vulkan is the only option for my use case.

Any pointers, sources, or things to try are welcome.
Thank you in advance for your time.

We have the section in developer guide:
Vulkan SC — Jetson Linux Developer Guide documentation

Please refer to the guidance to build the smaple and try.

And please check this webpage:

Beside Vulkan, you may try DRM. We have the sample in jetson_multimedia_api:
Jetson Linux API Reference: 08_video_dec_drm (Direct Rendering Manager) | NVIDIA Docs

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