I am using a jetson orin nx 16 GB and have it in MAXN. I do run it in max resolution though, but i would assume that would be okay for 30 fps
You should tune it for the best compromise between quality and performance, according to your requirements.
The main advice is not to run visualization tools (RViz2, rqt) on the Jetson because they are resource-hungry and cause these kinds of problems.