The ubuntu system must be bionic LTS
for the host.
Install jetpack 4.6.5 on the nano via the sdkmanager.
Download the pinmux spreadsheet v1.01 from: https://developer.nvidia.com/embedded/downloads#?search=Pinmux
Fire up Excel under Windows, make your desired changes and generate:
tegra210-jetson_nano_module_okdo-pinmux.dtsi