As far as I know, no one has worked on support for Nvidia Drive Xavier at this time. Autoware.ai supported the Drive PX2 at one point but I have not seen any merge requests related to PX2 support for a while. It may be that it works correctly on PX2 and no one is having trouble or it may be that no one is using it on PX2 anymore. We would be happy to accept pull requests related to supporting additional platforms but we only currently test in generic amd64 and aarch64 platforms at this time since no special hardware is required for these architectures.