NVIDIA AGX Xavier Industrial PCIE communication

Hello,

I am working on a project in which we are using NVIDIA AGX Xavier industrial SOM and a SBC with PCIE 4X slot. We want to communicate both using PCIE root complex and endpoint mode. The SBC would be running Linux. The plan is to configure the SBC as root complex and the NVIDIA AGX Xavier as the endpoint mode. I have searched the forum for any relevant tutorial but haven’t been able to find one. I just want to know is it possible to transfer data between these two SBC’s using PCIE. If yes, How can i implement this? Is there any tutorial available?

Secondly, how can i test the pcie endpoint mode on a NVIDIA AGX Xavier?

Thanks in advance