The core concept is to utilize the full-duplex UART of Jetson TX2 to communicate in half-duplex with Dynamixel servos through 74LS241, as illustrated in this beautiful post.
This library is done starting from this library for Raspberry and this python GPIO handler.
I've used a Jetson TX2 with an Orbitty Carrier, where the UART0 is handled by the kernel with the namespace /dev/ttyTHS2 (ttyS0 is already used by the system for... boh, something, so it's easier to use this one!). Maybe you've to change something if you use other platforms.
First of all install GPIO handler, cloning that repo and executing python setup.py build && sudo python setup.py install. Remeber that anything you do with GPIOs need superuser privileges.
It's not so unusual that some reply from the motors went lost, and I suppose it's related to I/O timings; probably a little improvement could be done implementing this optimizations in GPIO library.