I have not used Jetson boards with TurtleBot3 before, but I did use the Jetson Nano with the Engineer kit back in 2021.
And I also checked the Jetson Orin Nano on the Engineer kit also in 2023
I just prepared my Orin Nano as per their official web site info, then install the DXL SDK as normal, it seemed to work fine on both Jetson Nano boards. Video cameras of course worked much better with Jetson because of GStreamer.
In case you are looking at RPi 5, I did a quick check with it at this 2023 post