If you have already flashed the device, following the below steps to correct the link of kernel headers:
sudo rm /lib/modules/$(uname -r)/build
# JetPack 6.x, using rootfs from Ubuntu 22.04
sudo ln -s /usr/src/linux-headers-$(uname -r)-ubuntu22.04_aarch64/3rdparty/canonical/linux-jammy/kernel-source/ /lib/modules/$(uname -r)/build
# JetPack 5 doesn't need modification.
Then, if you obtain the driver source code, navigate to the directory and build your driver.
ARCH=arm64 make -j$(nproc)
sudo make install
Finally load your kernel module:
sudo modprobe <Your Kernel Module>
This is for non mainline kernel driver, for mainline kernel driver, you should be able to use it directly.