Always have been. Orin nano/nx SoMs are in all sorts of weapons systems. NixOS had a whole community civil war because Anduril heavily adopted NixOS and integrated it with Jetpack, the BSP that these run. They're kind of a PITA to use (fuck you WayneWWW...IYKYK) but they're easily the highest performance SoM of that size and the power consumption is workable for these kinds of...short lived systems. I think they started out targeting automotive applications and never really took off in the commercial world despite being comparable to Apple silicon in performance because they have no power saving modes. They ended up being perfect for doing real time object detection from a MIPI camera though so now they're the gold standard for bleeding edge slaughterbots.

Before the Orin, a lot of more experimental systems were using the TX2i and Xavier modules, but they had much less computing power and the image recognition models weren't as capable anyway.