Apologies for the delay. Thank you for that link, right now we have a small HDMI screen mounted on the robot and connected to the Jetson but we were planning to get rid of that screen soon, so this helps.
Also wanted to provide an update: as @Myzhar suggested, we tried running just Lidar and Zed (no rviz2) but ran into the same Zed crash issue. Looking closer into the error log, when the disconnect happened, a negative serial number was being printed. So we thought that the USB connection of the Zed inside Docker is somehow getting disrupted, which made me think about what @alassagne mentioned regarding USB controllers.
Long story short, our robot has a USB serial expansion board that’s connected to the Jetson and the camera was actually connected to that board instead of directly to the Jetson. So we connected the camera directly to the Jetson and tried again - Zed and Lidar worked together! Haven’t tested with rviz2 yet, but so far everything seems to work fine.
Not sure why this crash happened previously, but I believe the issue is finally resolved. Thank you both for being so fast and responsive in diagnosing this problem!