diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index ddeecabb..ee977562 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -41,6 +41,14 @@ jobs:
             base_image: "fedora:41"
             trusted_boot: "true"
             fips: false
+          - platform: "arm64"
+            base_image: "ubuntu:22.04"
+            model: "nvidia-jetson-agx-orin"
+            fips: false
+          - platform: "arm64"
+            base_image: "ubuntu:22.04"
+            model: "nvidia-jetson-orin-nx"
+            fips: false
     steps:
       - uses: actions/checkout@v5
         with:
@@ -67,4 +75,5 @@ jobs:
             PROVIDER_VERSION=${{ matrix.kubernetes_version || '' }}
             VERSION=${{ env.VERSION }}
             FIPS=${{ matrix.fips || false }}
-            TRUSTED_BOOT=${{ matrix.trusted_boot || 'false' }}
\ No newline at end of file
+            TRUSTED_BOOT=${{ matrix.trusted_boot || 'false' }}
+            MODEL=${{ matrix.model || 'generic' }}
\ No newline at end of file
diff --git a/pkg/stages/steps_install.go b/pkg/stages/steps_install.go
index b61343a6..aa28da7e 100644
--- a/pkg/stages/steps_install.go
+++ b/pkg/stages/steps_install.go
@@ -62,17 +62,37 @@ func GetInstallStage(sis values.System, logger types.KairosLogger) ([]schema.Sta
 
 	// Read the NVIDIA env variables, use defaults if not set
 	nvidiaRelease := os.Getenv("NVIDIA_RELEASE")
-    if nvidiaRelease == "" {
-        nvidiaRelease = "35"
-    }
+	if nvidiaRelease == "" {
+		// This was just introduced in PR #211, however if you check the
+		// Dockerfile.nvidia-orin-nx it says 36 :shrug:, do we actually need a
+		// default or should the user always set it? if we have a default, should it
+		// ever change?
+		nvidiaRelease = "35"
+	}
+
+	nvidiaVersion := os.Getenv("NVIDIA_VERSION")
+	if nvidiaVersion == "" {
+		// This was just introduced in PR #211, however if you check the
+		// Dockerfile.nvidia-orin-nx it says 4.4 :shrug:, do we actually need a
+		// default or should the user always set it? if we have a default, should it
+		// ever change?
+		nvidiaVersion = "3.1"
+	}
+
+	l4tVersion := os.Getenv("L4T_VERSION")
+	if l4tVersion == "" {
+		l4tVersion = "36.4"
+	}
 
-    nvidiaVersion := os.Getenv("NVIDIA_VERSION")
-    if nvidiaVersion == "" {
-        nvidiaVersion = "3.1"
-    }
+	// Get board model from environment or config
+	boardModel := os.Getenv("BOARD_MODEL")
+	if boardModel == "" {
+		// Does it make sense that both AGX Orin and Orin NX use the same board model?
+		boardModel = "t234"
+	}
 
 	// Prepare NVIDIA L4T extraction script
-    l4tScript := fmt.Sprintf(`#!/bin/bash
+	l4tScript := fmt.Sprintf(`#!/bin/bash
 		set -e
 
 		NVIDIA_RELEASE="%s"
@@ -149,6 +169,72 @@ func GetInstallStage(sis values.System, logger types.KairosLogger) ([]schema.Sta
 				l4tScript,
 			},
 		},
+		{
+			Name: "Setup NVIDIA L4T repositories",
+			If:   fmt.Sprintf(`[ "%s" = "nvidia-jetson-agx-orin" ] || [ "%s" = "nvidia-jetson-orin-nx" ]`, config.DefaultConfig.Model, config.DefaultConfig.Model),
+			Commands: []string{
+				// Clean up existing NVIDIA repository files
+				"rm -rf /etc/apt/sources.list.d/nvidia-l4t-apt-source.list",
+				// Create NVIDIA L4T packages directory
+				"mkdir -p /opt/nvidia/l4t-packages",
+				"touch /opt/nvidia/l4t-packages/.nv-l4t-disable-boot-fw-update-in-preinstall",
+				// Add NVIDIA GPG keys
+				"curl -fSsL https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub | gpg --dearmor | tee /usr/share/keyrings/nvidia-drivers-2004.gpg > /dev/null 2>&1",
+				"curl -fSsL https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/3bf863cc.pub | gpg --dearmor | tee /usr/share/keyrings/nvidia-drivers-2204.gpg > /dev/null 2>&1",
+				"curl -fSsL https://repo.download.nvidia.com/jetson/jetson-ota-public.asc | gpg --dearmor | tee /usr/share/keyrings/jetson-ota.gpg > /dev/null 2>&1",
+				// Add NVIDIA repositories
+				"echo 'deb [signed-by=/usr/share/keyrings/nvidia-drivers-2204.gpg] https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/ /' | tee -a /etc/apt/sources.list.d/nvidia-drivers.list",
+				"echo 'deb [signed-by=/usr/share/keyrings/nvidia-drivers-2004.gpg] https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/ /' | tee -a /etc/apt/sources.list.d/nvidia-drivers.list",
+				fmt.Sprintf("echo 'deb [signed-by=/usr/share/keyrings/jetson-ota.gpg] https://repo.download.nvidia.com/jetson/common/ r%s main' | tee -a /etc/apt/sources.list.d/nvidia-drivers.list", l4tVersion),
+				fmt.Sprintf("echo 'deb [signed-by=/usr/share/keyrings/jetson-ota.gpg] https://repo.download.nvidia.com/jetson/%s/ r%s main' | tee -a /etc/apt/sources.list.d/nvidia-drivers.list", boardModel, l4tVersion),
+			},
+		},
+		{
+			Name: "Setup OpenCV symlink for NVIDIA devices",
+			If:   fmt.Sprintf(`[ "%s" = "nvidia-jetson-agx-orin" ] || [ "%s" = "nvidia-jetson-orin-nx" ]`, config.DefaultConfig.Model, config.DefaultConfig.Model),
+			Commands: []string{
+				"ln -s /usr/include/opencv4/opencv2 /usr/include/opencv2",
+			},
+		},
+		{
+			Name: "Configure CUDA paths for NVIDIA devices",
+			If:   fmt.Sprintf(`[ "%s" = "nvidia-jetson-agx-orin" ] || [ "%s" = "nvidia-jetson-orin-nx" ]`, config.DefaultConfig.Model, config.DefaultConfig.Model),
+			Commands: []string{
+				// Move CUDA out of the way to /opt so kairos can occupy /usr/local without workarounds
+				"update-alternatives --remove-all cuda || true",
+				"update-alternatives --remove-all cuda-12 || true",
+				"mv /usr/local/cuda-12.6 /opt/cuda-12.6 || true",
+				"update-alternatives --install /opt/cuda cuda /opt/cuda-12.6 1 || true",
+				"update-alternatives --install /opt/cuda-12 cuda-12 /opt/cuda-12.6 1 || true",
+			},
+		},
+		{
+			Name: "Configure NVIDIA L4T USB device mode for NVIDIA devices",
+			If:   fmt.Sprintf(`[ "%s" = "nvidia-jetson-agx-orin" ] || [ "%s" = "nvidia-jetson-orin-nx" ]`, config.DefaultConfig.Model, config.DefaultConfig.Model),
+			Commands: []string{
+				// Change mountpoint for l4t usb device mode, as rootfs is mounted ro
+				// /srv/data is made through cloud-config
+				"sed -i -e 's|mntpoint=\"/mnt|mntpoint=\"/srv/data|' /opt/nvidia/l4t-usb-device-mode/nv-l4t-usb-device-mode-start.sh || true",
+			},
+		},
+		{
+			Name: "Disable ISCSI for NVIDIA devices",
+			If:   fmt.Sprintf(`[ "%s" = "nvidia-jetson-agx-orin" ] || [ "%s" = "nvidia-jetson-orin-nx" ]`, config.DefaultConfig.Model, config.DefaultConfig.Model),
+			Files: []schema.File{
+				{
+					Path:    "/etc/dracut.conf.d/iscsi.conf",
+					Content: "omit_dracutmodules+=\" iscsi \"",
+				},
+			},
+		},
+		{
+			Name: "Disable ISCSI services for NVIDIA devices",
+			If:   fmt.Sprintf(`[ "%s" = "nvidia-jetson-agx-orin" ] || [ "%s" = "nvidia-jetson-orin-nx" ]`, config.DefaultConfig.Model, config.DefaultConfig.Model),
+			Commands: []string{
+				// iscsid causes delays on the login shell, and we don't need it, so we'll disable it
+				"systemctl disable iscsi open-iscsi iscsid.socket || true",
+			},
+		},
 	}
 	return stage, nil
 }
diff --git a/pkg/values/packagemaps.go b/pkg/values/packagemaps.go
index 21bb3946..e6ad988a 100644
--- a/pkg/values/packagemaps.go
+++ b/pkg/values/packagemaps.go
@@ -58,6 +58,148 @@ type ModelPackageMap map[DistroFamilyInterface]map[Architecture]map[Model]Versio
 // VersionMap is a map of a constraint to a list of packages
 type VersionMap map[string][]string
 
+// BasePackagesModels allows model-specific base packages per distro/arch/model
+var BasePackagesModels = ModelPackageMap{
+	Ubuntu: {
+		ArchARM64: {
+			AgxOrin: {
+				Common: {
+					"bridge-utils",
+					"efibootmgr",
+					"fuse",
+					"git",
+					"grub2-common",
+					"libssl-dev",
+					"policykit-1",
+					"vim",
+				},
+			},
+			OrinNX: {
+				Common: {
+					"bc",
+					"binutils",
+					"bluez",
+					"bridge-utils",
+					"bzip2",
+					"ca-certificates",
+					"can-utils",
+					"cloud-guest-utils",
+					"conntrack",
+					"console-data",
+					"console-setup",
+					"coreutils",
+					"cron",
+					"cryptsetup",
+					"curl",
+					"debianutils",
+					"default-jdk",
+					"dirmngr",
+					"dmsetup",
+					"dosfstools",
+					"dracut",
+					"dracut-live",
+					"dracut-network",
+					"e2fsprogs",
+					"efibootmgr",
+					"ethtool",
+					"fail2ban",
+					"fdisk",
+					"file",
+					"fuse3",
+					"gawk",
+					"gdisk",
+					"gettext",
+					"gnupg",
+					"gnupg1-l10n",
+					"gpg-agent",
+					"grub2-common",
+					"grub-efi-arm64",
+					"grub-efi-arm64-bin",
+					"grub-efi-arm64-signed",
+					"haveged",
+					"iproute2",
+					"iptables",
+					"iputils-ping",
+					"isc-dhcp-client",
+					"isc-dhcp-common",
+					"isc-dhcp-server",
+					"jq",
+					"kbd",
+					"kmod",
+					"lbzip2",
+					"less",
+					"libatm1",
+					"libglib2.0-data",
+					"libgpm2",
+					"libldap-common",
+					"libnss-systemd",
+					"libopencv-dev",
+					"libpam-cap",
+					"libqt5core5a",
+					"libsasl2-modules",
+					"libssl-dev",
+					"lldpd",
+					"logrotate",
+					"lvm2",
+					"mdadm",
+					"modemmanager",
+					"mtd-utils",
+					"nano",
+					"nbd-client",
+					"ncurses-term",
+					"netplan.io",
+					"net-tools",
+					"networkd-dispatcher",
+					"network-manager",
+					"nfs-client",
+					"nfs-common",
+					"nftables",
+					"open-iscsi",
+					"openssh-server",
+					"open-vm-tools",
+					"os-prober",
+					"packagekit-tools",
+					"parted",
+					"passwd",
+					"patch",
+					"pigz",
+					"pkg-config",
+					"policykit-1",
+					"psmisc",
+					"publicsuffix",
+					"qemu-user-static",
+					"rsync",
+					"shared-mime-info",
+					"shim-signed",
+					"snmpd",
+					"software-properties-common",
+					"squashfs-tools",
+					"ssh",
+					"sudo",
+					"systemd",
+					"systemd-container",
+					"systemd-sysv",
+					"systemd-timesyncd",
+					"tar",
+					"tpm2-tools",
+					"ubuntu-advantage-tools",
+					"udev",
+					"unzip",
+					"vim",
+					"wget",
+					"wireless-tools",
+					"wpasupplicant",
+					"xxd",
+					"xz-utils",
+					"zerofree",
+					"zfsutils-linux",
+					"zstd",
+				},
+			},
+		},
+	},
+}
+
 // ImmucorePackages are the minimum set of packages that immucore needs.
 // Otherwise, you won't be able to build the initrd with immucore on it.
 // These packages are removed afterward, so we can keep the image as small as possible
@@ -702,6 +844,126 @@ var KernelPackagesModels = ModelPackageMap{
 				// 24.10 uses the 24.04 hwe kernel as it is the same hwe track https://ubuntu.com/kernel/lifecycle
 				">=24.10": {"linux-image-generic-hwe-24.04"},
 			},
+			AgxOrin: {
+				Common: {
+					// NVIDIA L4T packages for AGX Orin
+					"nvidia-l4t-3d-core",
+					"nvidia-l4t-apt-source",
+					"nvidia-l4t-bootloader",
+					"nvidia-l4t-camera",
+					"nvidia-l4t-configs",
+					"nvidia-l4t-core",
+					"nvidia-l4t-cuda",
+					"nvidia-l4t-display-kernel",
+					"nvidia-l4t-firmware",
+					"nvidia-l4t-gbm",
+					"nvidia-l4t-graphics-demos",
+					"nvidia-l4t-gstreamer",
+					"nvidia-l4t-init",
+					"nvidia-l4t-initrd",
+					"nvidia-l4t-jetson-io",
+					"nvidia-l4t-jetsonpower-gui-tools",
+					"nvidia-l4t-kernel",
+					"nvidia-l4t-kernel-dtbs",
+					"nvidia-l4t-kernel-headers",
+					"nvidia-l4t-kernel-oot-modules",
+					"nvidia-l4t-multimedia-utils",
+					"nvidia-l4t-multimedia",
+					"nvidia-l4t-nvfancontrol",
+					"nvidia-l4t-nvpmodel-gui-tools",
+					"nvidia-l4t-nvpmodel",
+					"nvidia-l4t-nvsci",
+					"nvidia-l4t-oem-config",
+					"nvidia-l4t-openwfd",
+					"nvidia-l4t-optee",
+					"nvidia-l4t-pva",
+					"nvidia-l4t-tools",
+					"nvidia-l4t-vulkan-sc-dev",
+					"nvidia-l4t-vulkan-sc-samples",
+					"nvidia-l4t-vulkan-sc-sdk",
+					"nvidia-l4t-vulkan-sc",
+					"nvidia-l4t-wayland",
+					"nvidia-l4t-weston",
+					"nvidia-l4t-x11",
+					"nvidia-l4t-xusb-firmware",
+					// CUDA packages
+					"cuda-cudart-12-6",
+					"cuda-cudart-dev-12-6",
+					"cuda-nvcc-12-6",
+					"cuda-nvdisasm-12-6",
+					"cuda-nvml-dev-12-6",
+					"cuda-nvprune-12-6",
+					"cuda-nvrtc-12-6",
+					"cuda-nvrtc-dev-12-6",
+					"cuda-nvtx-12-6",
+					"libcublas-12-6",
+					"libcublas-dev-12-6",
+					// Jetson GPIO
+					"jetson-gpio-common",
+					"python3-jetson-gpio",
+					// OpenCV
+					"libopencv-dev",
+				},
+			},
+			OrinNX: {
+				Common: {
+					// NVIDIA L4T packages for Orin NX
+					"nvidia-l4t-3d-core",
+					"nvidia-l4t-apt-source",
+					"nvidia-l4t-bootloader",
+					"nvidia-l4t-camera",
+					"nvidia-l4t-configs",
+					"nvidia-l4t-core",
+					"nvidia-l4t-cuda-utils",
+					"nvidia-l4t-cuda",
+					"nvidia-l4t-display-kernel",
+					"nvidia-l4t-firmware",
+					"nvidia-l4t-gbm",
+					"nvidia-l4t-init",
+					"nvidia-l4t-initrd",
+					"nvidia-l4t-jetson-io",
+					"nvidia-l4t-kernel",
+					"nvidia-l4t-kernel-dtbs",
+					"nvidia-l4t-kernel-headers",
+					"nvidia-l4t-kernel-oot-headers",
+					"nvidia-l4t-kernel-oot-modules",
+					"nvidia-l4t-nvfancontrol",
+					"nvidia-l4t-nvml",
+					"nvidia-l4t-nvpmodel-gui-tools",
+					"nvidia-l4t-nvpmodel",
+					"nvidia-l4t-nvsci",
+					"nvidia-l4t-oem-config",
+					"nvidia-l4t-openwfd",
+					"nvidia-l4t-optee",
+					"nvidia-l4t-pva",
+					"nvidia-l4t-tools",
+					"nvidia-l4t-vulkan-sc-dev",
+					"nvidia-l4t-vulkan-sc-sdk",
+					"nvidia-l4t-vulkan-sc",
+					"nvidia-l4t-xusb-firmware",
+					// CUDA packages
+					"cuda-cudart-12-6",
+					"cuda-cudart-dev-12-6",
+					"cuda-nvcc-12-6",
+					"cuda-nvdisasm-12-6",
+					"cuda-nvml-dev-12-6",
+					"cuda-nvprune-12-6",
+					"cuda-nvrtc-12-6",
+					"cuda-nvrtc-dev-12-6",
+					"cuda-nvtx-12-6",
+					"libcublas-12-6",
+					"libcublas-dev-12-6",
+					// Jetson GPIO
+					"jetson-gpio-common",
+					"python-jetson-gpio",
+					"python3-jetson-gpio",
+					// NVIDIA Container Toolkit
+					"nvidia-container-toolkit-base",
+					"nvidia-container-toolkit",
+					// OpenCV
+					"libopencv-dev",
+				},
+			},
 		},
 	},
 	SUSEFamily: {
@@ -777,6 +1039,13 @@ func GetPackages(s System, l sdkTypes.KairosLogger) ([]string, error) {
 		BasePackages[s.Distro][s.Arch],     // Specific packages for the arch
 		BasePackages[s.Family][s.Arch],     // Specific packages for the arch by family
 	}
+	// Include model-specific base packages when model is not generic
+	if config.DefaultConfig.Model != Generic.String() {
+		filteredPackages = append(filteredPackages, BasePackagesModels[s.Distro][ArchCommon][Model(config.DefaultConfig.Model)])
+		filteredPackages = append(filteredPackages, BasePackagesModels[s.Family][ArchCommon][Model(config.DefaultConfig.Model)])
+		filteredPackages = append(filteredPackages, BasePackagesModels[s.Distro][s.Arch][Model(config.DefaultConfig.Model)])
+		filteredPackages = append(filteredPackages, BasePackagesModels[s.Family][s.Arch][Model(config.DefaultConfig.Model)])
+	}
 	// If trusted boot is enabled, we need to install the trusted boot packages
 	if config.DefaultConfig.TrustedBoot {
 		// Install only systemd-boot packages
diff --git a/pkg/values/values.go b/pkg/values/values.go
index 55e90ac9..2f64e42f 100644
--- a/pkg/values/values.go
+++ b/pkg/values/values.go
@@ -39,7 +39,7 @@ const (
 	OpenSUSELeap       Distro = "opensuse-leap"
 	OpenSUSETumbleweed Distro = "opensuse-tumbleweed"
 	SLES               Distro = "sles"
-	Hadron            Distro = "hadron"
+	Hadron             Distro = "hadron"
 )
 
 type Family string
@@ -56,7 +56,7 @@ const (
 	ArchFamily    Family = "arch"
 	AlpineFamily  Family = "alpine"
 	SUSEFamily    Family = "suse"
-	HadronFamily Family = "hadron"
+	HadronFamily  Family = "hadron"
 )
 
 type Model string              // Model is the type of the system
@@ -66,8 +66,8 @@ const (
 	Generic Model = "generic"
 	Rpi3    Model = "rpi3"
 	Rpi4    Model = "rpi4"
-	AgxOrin Model = "agx-orin"
-	OrinNX  Model = "orin-nx"
+	AgxOrin Model = "nvidia-jetson-agx-orin"
+	OrinNX  Model = "nvidia-jetson-orin-nx"
 )
 
 type System struct {