diff --git a/arch/arm64/boot/dts/nvidia/tegra234-p3701-0000.dtsi b/arch/arm64/boot/dts/nvidia/tegra234-p3701-0000.dtsi
index 9e4d72cfa69f..8acef87a5398 100644
--- a/arch/arm64/boot/dts/nvidia/tegra234-p3701-0000.dtsi
+++ b/arch/arm64/boot/dts/nvidia/tegra234-p3701-0000.dtsi
@@ -61,6 +61,29 @@ mmc@3460000 {
 			non-removable;
 		};
 
+		padctl@3520000 {
+			vclamp-usb-supply = <&vdd_ao_1v8>;
+			avdd-usb-supply = <&vdd_ao_3v3>;
+
+			ports {
+				usb2-0 {
+					vbus-supply = <&vdd_5v0_sys>;
+				};
+
+				usb2-1 {
+					vbus-supply = <&vdd_5v0_sys>;
+				};
+
+				usb2-2 {
+					vbus-supply = <&vdd_5v0_sys>;
+				};
+
+				usb2-3 {
+					vbus-supply = <&vdd_5v0_sys>;
+				};
+			};
+		};
+
 		rtc@c2a0000 {
 			status = "okay";
 		};
@@ -69,4 +92,29 @@ pmc@c360000 {
 			nvidia,invert-interrupt;
 		};
 	};
+
+	vdd_5v0_sys: regulator@0 {
+		compatible = "regulator-fixed";
+		regulator-name = "VIN_SYS_5V0";
+		regulator-min-microvolt = <5000000>;
+		regulator-max-microvolt = <5000000>;
+		regulator-always-on;
+		regulator-boot-on;
+	};
+
+	vdd_ao_1v8: regulator@1 {
+		compatible = "regulator-fixed";
+		regulator-name = "vdd-AO-1v8";
+		regulator-min-microvolt = <1800000>;
+		regulator-max-microvolt = <1800000>;
+		regulator-always-on;
+	};
+
+	vdd_ao_3v3: regulator@2 {
+		compatible = "regulator-fixed";
+		regulator-name = "vdd-AO-3v3";
+		regulator-min-microvolt = <3300000>;
+		regulator-max-microvolt = <3300000>;
+		regulator-always-on;
+	};
 };
diff --git a/arch/arm64/boot/dts/nvidia/tegra234-p3737-0000+p3701-0000.dts b/arch/arm64/boot/dts/nvidia/tegra234-p3737-0000+p3701-0000.dts
index 57ab75328814..58baedbd0f93 100644
--- a/arch/arm64/boot/dts/nvidia/tegra234-p3737-0000+p3701-0000.dts
+++ b/arch/arm64/boot/dts/nvidia/tegra234-p3737-0000+p3701-0000.dts
@@ -2011,6 +2011,181 @@ hda@3510000 {
 			nvidia,model = "NVIDIA Jetson AGX Orin HDA";
 			status = "okay";
 		};
+
+		padctl@3520000 {
+			status = "okay";
+
+			pads {
+				usb2 {
+					lanes {
+						usb2-0 {
+							status = "okay";
+						};
+
+						usb2-1 {
+							status = "okay";
+						};
+
+						usb2-2 {
+							status = "okay";
+						};
+
+						usb2-3 {
+							status = "okay";
+						};
+					};
+				};
+
+				usb3 {
+					lanes {
+						usb3-0 {
+							status = "okay";
+						};
+
+						usb3-1 {
+							status = "okay";
+						};
+
+						usb3-2 {
+							status = "okay";
+						};
+					};
+				};
+			};
+
+			ports {
+				usb2-0 {
+					mode = "otg";
+					usb-role-switch;
+					status = "okay";
+					port {
+						hs_typec_p1: endpoint {
+							remote-endpoint = <&hs_ucsi_ccg_p1>;
+						};
+					};
+				};
+
+				usb2-1 {
+					mode = "host";
+					status = "okay";
+					port {
+						hs_typec_p0: endpoint {
+							remote-endpoint = <&hs_ucsi_ccg_p0>;
+						};
+					};
+				};
+
+				usb2-2 {
+					mode = "host";
+					status = "okay";
+				};
+
+				usb2-3 {
+					mode = "host";
+					status = "okay";
+				};
+
+				usb3-0 {
+					nvidia,usb2-companion = <1>;
+					status = "okay";
+					port {
+						ss_typec_p0: endpoint {
+							remote-endpoint = <&ss_ucsi_ccg_p0>;
+						};
+					};
+				};
+
+				usb3-1 {
+					nvidia,usb2-companion = <0>;
+					status = "okay";
+					port {
+						ss_typec_p1: endpoint {
+							remote-endpoint = <&ss_ucsi_ccg_p1>;
+						};
+					};
+				};
+
+				usb3-2 {
+					nvidia,usb2-companion = <3>;
+					status = "okay";
+				};
+			};
+		};
+
+		usb@3550000 {
+			status = "okay";
+
+			phys = <&{/bus@0/padctl@3520000/pads/usb2/lanes/usb2-0}>,
+				<&{/bus@0/padctl@3520000/pads/usb3/lanes/usb3-1}>;
+			phy-names = "usb2-0", "usb3-1";
+		};
+
+		usb@3610000 {
+			status = "okay";
+
+			phys =	<&{/bus@0/padctl@3520000/pads/usb2/lanes/usb2-0}>,
+				<&{/bus@0/padctl@3520000/pads/usb2/lanes/usb2-1}>,
+				<&{/bus@0/padctl@3520000/pads/usb2/lanes/usb2-2}>,
+				<&{/bus@0/padctl@3520000/pads/usb2/lanes/usb2-3}>,
+				<&{/bus@0/padctl@3520000/pads/usb3/lanes/usb3-0}>,
+				<&{/bus@0/padctl@3520000/pads/usb3/lanes/usb3-1}>,
+				<&{/bus@0/padctl@3520000/pads/usb3/lanes/usb3-2}>;
+			phy-names = "usb2-0", "usb2-1", "usb2-2", "usb2-3",
+				"usb3-0", "usb3-1", "usb3-2";
+		};
+
+		i2c@c240000 {
+			status = "okay";
+			ucsi-ccg@8 {
+				compatible = "cypress,cypd4226";
+				cypress,firmware-build = "nvidia,jetson-agx-xavier";
+				interrupt-parent = <&gpio>;
+				interrupts = <TEGRA234_MAIN_GPIO(Y, 4) IRQ_TYPE_LEVEL_LOW>;
+				reg = <0x08>;
+				#address-cells = <1>;
+				#size-cells = <0>;
+				ccg_typec_con0: connector@0 {
+					compatible = "usb-c-connector";
+					reg = <0>;
+					label = "USB-C";
+					data-role = "host";
+					#address-cells = <1>;
+					#size-cells = <0>;
+					port@0 {
+						reg = <0>;
+						hs_ucsi_ccg_p0: endpoint {
+							remote-endpoint = <&hs_typec_p0>;
+						};
+					};
+					port@1 {
+						reg = <1>;
+						ss_ucsi_ccg_p0: endpoint {
+							remote-endpoint = <&ss_typec_p0>;
+						};
+					};
+				};
+				ccg_typec_con1: connector@1 {
+					compatible = "usb-c-connector";
+					reg = <1>;
+					label = "USB-C";
+					data-role = "dual";
+					#address-cells = <1>;
+					#size-cells = <0>;
+					port@0 {
+						reg = <0>;
+						hs_ucsi_ccg_p1: endpoint {
+							remote-endpoint = <&hs_typec_p1>;
+						};
+					};
+					port@1 {
+						reg = <1>;
+						ss_ucsi_ccg_p1: endpoint {
+							remote-endpoint = <&ss_typec_p1>;
+						};
+					};
+				};
+			};
+		};
 	};
 
 	chosen {
diff --git a/arch/arm64/boot/dts/nvidia/tegra234.dtsi b/arch/arm64/boot/dts/nvidia/tegra234.dtsi
index 0170bfa8a467..27635d459e4c 100644
--- a/arch/arm64/boot/dts/nvidia/tegra234.dtsi
+++ b/arch/arm64/boot/dts/nvidia/tegra234.dtsi
@@ -942,6 +942,174 @@ hda@3510000 {
 			status = "disabled";
 		};
 
+		xusb_padctl: padctl@3520000 {
+			compatible = "nvidia,tegra234-xusb-padctl";
+			reg = <0x03520000 0x20000>,
+			      <0x03540000 0x10000>;
+			reg-names = "padctl", "ao";
+			interrupts = <GIC_SPI 167 IRQ_TYPE_LEVEL_HIGH>;
+
+			resets = <&bpmp TEGRA234_RESET_XUSB_PADCTL>;
+			reset-names = "padctl";
+
+			status = "disabled";
+
+			pads {
+				usb2 {
+					clocks = <&bpmp TEGRA234_CLK_USB2_TRK>;
+					clock-names = "trk";
+
+					lanes {
+						usb2-0 {
+							nvidia,function = "xusb";
+							status = "disabled";
+							#phy-cells = <0>;
+						};
+
+						usb2-1 {
+							nvidia,function = "xusb";
+							status = "disabled";
+							#phy-cells = <0>;
+						};
+
+						usb2-2 {
+							nvidia,function = "xusb";
+							status = "disabled";
+							#phy-cells = <0>;
+						};
+
+						usb2-3 {
+							nvidia,function = "xusb";
+							status = "disabled";
+							#phy-cells = <0>;
+						};
+					};
+				};
+
+				usb3 {
+					lanes {
+						usb3-0 {
+							nvidia,function = "xusb";
+							status = "disabled";
+							#phy-cells = <0>;
+						};
+
+						usb3-1 {
+							nvidia,function = "xusb";
+							status = "disabled";
+							#phy-cells = <0>;
+						};
+
+						usb3-2 {
+							nvidia,function = "xusb";
+							status = "disabled";
+							#phy-cells = <0>;
+						};
+
+						usb3-3 {
+							nvidia,function = "xusb";
+							status = "disabled";
+							#phy-cells = <0>;
+						};
+					};
+				};
+			};
+
+			ports {
+				usb2-0 {
+					status = "disabled";
+				};
+
+				usb2-1 {
+					status = "disabled";
+				};
+
+				usb2-2 {
+					status = "disabled";
+				};
+
+				usb2-3 {
+					status = "disabled";
+				};
+
+				usb3-0 {
+					status = "disabled";
+				};
+
+				usb3-1 {
+					status = "disabled";
+				};
+
+				usb3-2 {
+					status = "disabled";
+				};
+
+				usb3-3 {
+					status = "disabled";
+				};
+			};
+		};
+
+		usb@3550000 {
+			compatible = "nvidia,tegra234-xudc";
+			reg = <0x03550000 0x8000>,
+			      <0x03558000 0x8000>;
+			reg-names = "base", "fpci";
+			interrupts = <GIC_SPI 166 IRQ_TYPE_LEVEL_HIGH>;
+			clocks = <&bpmp TEGRA234_CLK_XUSB_CORE_DEV>,
+				 <&bpmp TEGRA234_CLK_XUSB_CORE_SS>,
+				 <&bpmp TEGRA234_CLK_XUSB_SS>,
+				 <&bpmp TEGRA234_CLK_XUSB_FS>;
+			clock-names = "dev", "ss", "ss_src", "fs_src";
+			interconnects = <&mc TEGRA234_MEMORY_CLIENT_XUSB_DEVR &emc>,
+					<&mc TEGRA234_MEMORY_CLIENT_XUSB_DEVW &emc>;
+			interconnect-names = "dma-mem", "write";
+			iommus = <&smmu_niso1 TEGRA234_SID_XUSB_DEV>;
+			power-domains = <&bpmp TEGRA234_POWER_DOMAIN_XUSBB>,
+					<&bpmp TEGRA234_POWER_DOMAIN_XUSBA>;
+			power-domain-names = "dev", "ss";
+			nvidia,xusb-padctl = <&xusb_padctl>;
+			dma-coherent;
+			status = "disabled";
+		};
+
+		usb@3610000 {
+			compatible = "nvidia,tegra234-xusb";
+			reg = <0x03610000 0x40000>,
+			      <0x03600000 0x10000>,
+			      <0x03650000 0x10000>;
+			reg-names = "hcd", "fpci", "bar2";
+
+			interrupts = <GIC_SPI 163 IRQ_TYPE_LEVEL_HIGH>,
+				     <GIC_SPI 164 IRQ_TYPE_LEVEL_HIGH>;
+
+			clocks = <&bpmp TEGRA234_CLK_XUSB_CORE_HOST>,
+				 <&bpmp TEGRA234_CLK_XUSB_FALCON>,
+				 <&bpmp TEGRA234_CLK_XUSB_CORE_SS>,
+				 <&bpmp TEGRA234_CLK_XUSB_SS>,
+				 <&bpmp TEGRA234_CLK_CLK_M>,
+				 <&bpmp TEGRA234_CLK_XUSB_FS>,
+				 <&bpmp TEGRA234_CLK_UTMIP_PLL>,
+				 <&bpmp TEGRA234_CLK_CLK_M>,
+				 <&bpmp TEGRA234_CLK_PLLE>;
+			clock-names = "xusb_host", "xusb_falcon_src",
+				      "xusb_ss", "xusb_ss_src", "xusb_hs_src",
+				      "xusb_fs_src", "pll_u_480m", "clk_m",
+				      "pll_e";
+			interconnects = <&mc TEGRA234_MEMORY_CLIENT_XUSB_HOSTR &emc>,
+					<&mc TEGRA234_MEMORY_CLIENT_XUSB_HOSTW &emc>;
+			interconnect-names = "dma-mem", "write";
+			iommus = <&smmu_niso1 TEGRA234_SID_XUSB_HOST>;
+
+			power-domains = <&bpmp TEGRA234_POWER_DOMAIN_XUSBC>,
+					<&bpmp TEGRA234_POWER_DOMAIN_XUSBA>;
+			power-domain-names = "xusb_host", "xusb_ss";
+
+			nvidia,xusb-padctl = <&xusb_padctl>;
+			dma-coherent;
+			status = "disabled";
+		};
+
 		fuse@3810000 {
 			compatible = "nvidia,tegra234-efuse";
 			reg = <0x03810000 0x10000>;
@@ -1470,6 +1638,8 @@ gen2_i2c: i2c@c240000 {
 			compatible = "nvidia,tegra194-i2c";
 			reg = <0xc240000 0x100>;
 			interrupts = <GIC_SPI 26 IRQ_TYPE_LEVEL_HIGH>;
+			#address-cells = <1>;
+			#size-cells = <0>;
 			status = "disabled";
 			clock-frequency = <100000>;
 			clocks = <&bpmp TEGRA234_CLK_I2C2
