Xavier NX Boot kernel panic

Randomly on Xavier NX’s running Jetpack 4.4.1 I will get the following kernel panic:

[   14.284339] trusty-irq trusty:irq: trusty_panic_notify: trusty crashed, disabling trusty irqs
[   14.294304] Unable to handle kernel NULL pointer dereference at virtual address 00000028
[   14.294458] Mem abort info:
[   14.294519]   ESR = 0x96000005
[   14.294590]   Exception class = DABT (current EL), IL = 32 bits
[   14.294698]   SET = 0, FnV = 0
[   14.294758]   EA = 0, S1PTW = 0
[   14.294821] Data abort info:
[   14.294883]   ISV = 0, ISS = 0x00000005
[   14.294958]   CM = 0, WnR = 0
[   14.295023] [0000000000000028] user address but active_mm is swapper
[   14.295146] Internal error: Oops: 96000005 [#1] PREEMPT SMP
[   14.295251] Modules linked in:
[   14.295336] CPU: 5 PID: 0 Comm: swapper/5 Tainted: G        W       4.9.140-tegra #1
[   14.295477] Hardware name: NVIDIA Jetson Xavier NX Developer Kit (DT)
[   14.295595] task: ffffffc1f6b76200 task.stack: ffffffc1f6ba0000
[   14.295731] PC is at trusty_irq_handler+0x40/0x160
[   14.296092] LR is at trusty_irq_handler+0x3c/0x160
[   14.296475] pc : [<ffffff8008cb3400>] lr : [<ffffff8008cb33fc>] pstate: 604001c5
[   14.297054] sp : ffffffc1ffda2f20
[   14.297908] x29: ffffffc1ffda2f20 x28: ffffffc1f6b76200
[   14.303433] x27: ffffffc1ffdac190 x26: ffffffc1ffda3050
[   14.308944] x25: ffffffc1ffd9f060 x24: 0000000000000001
[   14.314793] x23: 00000041f63ef000 x22: 0000000000000000
[   14.320395] x21: 0000000000000002 x20: ffffffc1ee9fd180
[   14.326081] x19: ffffffc1ffdb5c58 x18: 00000000fffffffe
[   14.331768] x17: 00000000003d05fd x16: 0000000000306093
[   14.337206] x15: 0000000000000000 x14: 0000000000000001
[   14.342981] x13: 00000000000002ff x12: 071c71c71c71c71c
[   14.348744] x11: 0000000000000040 x10: ffffff8009f07b80
[   14.354343] x9 : ffffffc1f6545220 x8 : ffffffc1f6400028
[   14.360118] x7 : 0000000000000000 x6 : ffffffc1f6400000
[   14.365382] x5 : ffffffc1f6400038 x4 : ffffffc1f6804c00
[   14.370969] x3 : 0000000000000020 x2 : 0000000000000000
[   14.376306] x1 : ffffffc1f6b76200 x0 : 0000000000010001
[   14.381394]
[   14.382794] Process swapper/5 (pid: 0, stack limit = 0xffffffc1f6ba0000)
[   14.389435] Call trace:
[   14.391543] [<ffffff8008cb3400>] trusty_irq_handler+0x40/0x160
[   14.397405] [<ffffff800814c8d0>] handle_percpu_devid_irq+0x90/0x2a0
[   14.403006] [<ffffff80081470f4>] generic_handle_irq+0x34/0x50
[   14.408343] [<ffffff80081477cc>] __handle_domain_irq+0x6c/0xc0
[   14.414200] [<ffffff8008080d24>] gic_handle_irq+0x54/0xa8
[   14.419017] [<ffffff8008082c28>] el1_irq+0xe8/0x194
[   14.423828] [<ffffff8008b77af0>] cpuidle_enter_state+0xb8/0x380
[   14.429426] [<ffffff8008b77e2c>] cpuidle_enter+0x34/0x48
[   14.434502] [<ffffff8008138458>] call_cpuidle+0x40/0x70
[   14.439055] [<ffffff800813876c>] cpu_startup_entry+0x154/0x210
[   14.444916] [<ffffff80080929cc>] secondary_start_kernel+0x124/0x160
[   14.450868] [<0000000080e911a4>] 0x80e911a4
[   14.455074] ---[ end trace 4ee2154b8679fb40 ]---
[   14.467815] Kernel panic - not syncing: Fatal exception in interrupt

Any ideas as to what could be causing this?

Custom board?

Any peripheral connected on the board?

Any application to trigger this error?

Same issue happened if use 4.6.1?

Any full log to share?

Any software customization made on the board?