Back in 2018 I've been involved in a product development based on TX2. I had to untangle the entire nasty mess of Bash and Python spaghetti that is JetPack SDK to get everything sensibly integrated into our custom firmware build system and workflow (no, copying your application files over prebaked rootfs on a running board is absolutely NOT how it's normally done). You basically need a few deb packages with nvidia libs for your userspace, and swipe a few binaries from Jetpack that have to be run with like 20 undocumented arguments in right order to do the rest (image assembly, flashing, signing, secure boot stuff, etc), the rest of the system could be anything. Right when I was finished, a 3rd party Yocto layer implementing essentially the same stuff that I came up with, and the world could finally forget about horrors of JetPack for good. I also heard that it has somewhat improved later on, but I have not touch any NVidia SoCs since (due to both trauma and moving to a different field).
