I assume you mean Orin Nano? (Jetson nano is EOL and only supports Ubuntu 18). Yes, we have users that run on Orin Nano and it's plug-and-play on any hardware. However note that the Orin Nano doesn't have hardware encoders, so it will take CPU cycles to encode the video, making it a less then ideal choice for teleoperated robots. Cheaper boards like the Orange Pi 5 are a better fit.

All the webrtc-features really only become relevant when you want to control the robot over the Internet, i.e., not just locally where you can assume reliable network.