fixed it:
echo "/usr/lib/aarch64-linux-gnu/tegra-egl" > /etc/ld.so.conf.d/nvidia-tegra-egl.conf && ldconfig
export DISPLAY=:0.0
nvargus-daemon &
startx &
SENSOR_ID=0 # 0 for CAM0 and 1 for CAM1 ports
FRAMERATE=60 # Framerate can go from 2 to 60 for 1920x1080 mode
gst-launch-1.0 nvarguscamerasrc sensor-id=$SENSOR_ID ! "video/x-raw(memory:NVMM),width=1920,height=1080,framerate=$FRAMERATE/1" ! nvvidconv ! nvoverlaysink