Please refer to below threads to see if can gain some ideas:
Jetson nano + deepstream + 4 .I.P cams + 2 Webcams + RTSP streaming - Jetson & Embedded Systems / Jetson Nano - NVIDIA Developer Forums
RTSP Streaming via OpenCV - Jetson & Embedded Systems / Jetson Nano - NVIDIA Developer Forums
Trying to get ultra low live-streaming latency(<100ms) on the drone using nano - Jetson & Embedded Systems / Jetson Nano - NVIDIA Developer Forums