ESP32 ROS connection to Jetson Nano via J41 header

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I'm trying to connect an ESP32 to a Jetson Nano via the J41 TX/RX pins.

I have this working via the USB0 port but have been unsuccessful using the J41 pins. I'm getting the dreaded: "Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino"

Here's the setup on the ESP side:

Serial1.begin(57600, SERIAL_8N1, 23, 19);

and updated ArduinoHardware.h to use Serial1

My launch file:

<launch> <node pkg="rosserial_python" type="serial_node.py" name="rosserial_python" output="screen"> <param name="port" value="/dev/ttyTHS1" /> <param name="baud" value="57600"/> </node> </launch>

I've tested a simple serial connection between the J41 TX/RX and the ESP32 TX/RX and it works fine, so I know that the physical connection is good and that I have all of the correct pins specified.

Any suggestions as to what to look at next would be great! I've been working on this for a day now. Thank you.