Jetson Orin Realsense IMU only with sudo inside container

I've worked with the Isaac ROS Stack quite a while now, but only on PC. Now we want to switch to Jetson and encounter some issues with the realsense:

On Jetson everything is setup to use our Realsense and I'm able to use all of our devices with the realsense-viewer without problems.

But as soon as I use the isaac docker container, we run into issues. The D435 is working fine and I can use rs-enumerate-deives and realsense-viewer to get all data. But when connecting our D435i or D455, I need to use sudo, to see the devices.

I've tried different solutions for this "sudo problem" but most of them target the host system itself and not the container, but on host everything works fine. I've tried to modify the container with additional mounts like /sys or mounting the device directly instead of /dev in general. But nothing works.
On PC we don't have issues either.

Any ideas or suggestions, how to solve this issue?

Environment
Jetson Orin NX 16GB on A603 I/O Board
JetPack 6.2 with L4T 36.4.3
librealsense 2.55.1.0 with LIBUVC and CUDA enabled
D455 with firmware 5.13.0.55
D435 with firmware 5.13.0.50
D435i with firmware 5.13.0.55
isaac_ros_common was tested with v3.2-5 and v3.2-8

Start by reproducing the D435, D435i, and D455 behavior inside the isaac_ros_common Docker container on the Jetson Orin, comparing host access with container access and with or without sudo. Review the container's device and permission setup, then document a reproducible configuration that exposes the affected devices without sudo, or narrow the issue to a missing container permission.