Use
RUN wget -O onnxruntime_gpu-1.17.0-cp38-cp38-linux_aarch64.whl \
https://nvidia.box.com/shared/static/zostg6agm00fb6t5uisw51qi6kpcuwzd.whl &&\
pip install onnxruntime_gpu-1.17.0-cp38-cp38-linux_aarch64.whl
You can find appropriate links in Jetson Zoo.