diff --git a/modules/common/default.nix b/modules/common/default.nix
index 26011fa03..68b182ae6 100644
--- a/modules/common/default.nix
+++ b/modules/common/default.nix
@@ -14,6 +14,7 @@
     ./users/accounts.nix
     ./version
     ./virtualization/docker.nix
+    ./virtualization/podman.nix
     ./systemd
     ./services
     ./networking
diff --git a/modules/common/development/cuda.nix b/modules/common/development/cuda.nix
new file mode 100644
index 000000000..d2fff1e69
--- /dev/null
+++ b/modules/common/development/cuda.nix
@@ -0,0 +1,24 @@
+# Copyright 2022-2024 TII (SSRC) and the Ghaf contributors
+# SPDX-License-Identifier: Apache-2.0
+{ lib, config, ... }:
+let
+  cfg = config.ghaf.development.cuda;
+  inherit (lib) mkEnableOption mkIf;
+in
+{
+  options.ghaf.development.cuda = {
+    enable = mkEnableOption "CUDA Support";
+  };
+
+  config = mkIf cfg.enable {
+    #Enabling CUDA on any supported system requires below settings. 
+    nixpkgs.config.allowUnfree = lib.mkForce true;
+    nixpkgs.config.allowBroken = lib.mkForce false;
+    nixpkgs.config.cudaSupport = lib.mkForce true;
+
+    # Enable Opengl
+    # Opengl enable is renamed to hardware.graphics.enable
+    # This is needed for CUDA so set it if it is already not set
+    hardware.graphics.enable = lib.mkForce true;
+  };
+}
diff --git a/modules/common/development/default.nix b/modules/common/development/default.nix
index 55620bf2a..86abaedac 100644
--- a/modules/common/development/default.nix
+++ b/modules/common/development/default.nix
@@ -6,5 +6,6 @@
     ./usb-serial.nix
     ./nix.nix
     ./ssh.nix
+    ./cuda.nix
   ];
 }
diff --git a/modules/common/virtualization/docker.nix b/modules/common/virtualization/docker.nix
index 6b9fa77e2..4fd7163f3 100644
--- a/modules/common/virtualization/docker.nix
+++ b/modules/common/virtualization/docker.nix
@@ -11,10 +11,65 @@ in
   };
 
   config = mkIf cfg.enable {
-    virtualisation.docker.enable = true;
-    virtualisation.docker.rootless = {
+    # Just ensure containers are enabled by boot.
+    boot.enableContainers = lib.mkForce true;
+
+    # Enable Opengl renamed to hardware.graphics.enable
+    hardware.graphics.enable = lib.mkForce true;
+
+    # For CUDA support unfree libraries and CudaSupport should be set
+    ghaf.development.cuda.enable = lib.mkForce true;
+
+    # Enabling CDI NVIDIA devices in podman or docker (nvidia docker container)
+    # For Orin devices this setting does not work as jetpack-nixos still does not support them.
+    # jetpack-nixos uses enableNvidia = true; even though it is deprecated
+    # For x86_64 the case is different it was introduced to be 
+    # virtualisation.containers.cdi.dynamic.nvidia.enable = true;
+    # but deprecated and changed to hardware.nvidia-container-toolkit.enable
+    # We enable below setting if architecture ix x86_64 and if the video driver is nvidia set it true
+    hardware.nvidia-container-toolkit.enable = lib.mkIf (
+      config.nixpkgs.localSystem.isx86_64 && (builtins.elem "nvidia" config.services.xserver.videoDrivers)
+    ) true;
+
+    # Docker Daemon Settings
+    virtualisation.docker = {
+      # To force Docker package version settings need to import pkgs first
+      # package = pkgs.docker_26;
+
       enable = true;
-      setSocketVariable = true;
+      # The enableNvidia option is still used in jetpack-nixos while it is obsolete in nixpkgs
+      # but it is still only option for nvidia-orin devices. Added extra fix for CDI to 
+      # make it run with docker.
+      enableNvidia = config.nixpkgs.localSystem.isAarch64 && config.hardware.nvidia-jetpack.enable;
+      daemon.settings.features.cdi = true;
+      rootless = {
+        enable = true;
+        setSocketVariable = true;
+        daemon.settings.features.cdi = true;
+        daemon.settings.cdi-spec-dirs = [ "/var/run/cdi/" ];
+      };
+
+      # Container file and processor limits 
+      # daemon.settings = {
+      #   default-ulimits = {
+      #       nofile = {
+      #       Name = "nofile";
+      #       Hard = 1024;
+      #       Soft = 1024;
+      #       };
+      #       nproc = {
+      #       Name = "nproc";
+      #       Soft = 65536;
+      #       Hard = 65536;
+      #       };
+      #     };
+      #   };
     };
+
+    # Add user to docker group and dialout group for access to serial ports
+    users.users."ghaf".extraGroups = [
+      "docker"
+      "dialout"
+    ];
   };
 }
diff --git a/modules/common/virtualization/podman.nix b/modules/common/virtualization/podman.nix
new file mode 100644
index 000000000..26b00ee50
--- /dev/null
+++ b/modules/common/virtualization/podman.nix
@@ -0,0 +1,68 @@
+# Copyright 2022-2024 TII (SSRC) and the Ghaf contributors
+# SPDX-License-Identifier: Apache-2.0
+{ lib, config, ... }:
+let
+  cfg = config.ghaf.virtualization.podman.daemon;
+  inherit (lib) mkEnableOption mkIf;
+in
+{
+  options.ghaf.virtualization.podman.daemon = {
+    enable = mkEnableOption "Podman Daemon";
+  };
+  config = mkIf cfg.enable {
+    # Just ensure containers are enabled by boot.
+    boot.enableContainers = lib.mkForce true;
+
+    # Enable Opengl renamed to hardware.graphics.enable
+    hardware.graphics.enable = lib.mkForce true;
+
+    # For CUDA support: Enable if not already enabled.
+    ghaf.development.cuda.enable = lib.mkForce true;
+
+    # Enabling CDI NVIDIA devices in podman or docker (nvidia docker container)
+    # For Orin devices this setting does not work as jetpack-nixos still does not support them.
+    # jetpack-nixos uses enableNvidia = true; even though it is deprecated
+    # For x86_64 the case is different it was introduced to be 
+    # virtualisation.containers.cdi.dynamic.nvidia.enable = true;
+    # but deprecated and changed to hardware.nvidia-container-toolkit.enable
+    # We enable below setting if architecture ix x86_64 and if the video driver is nvidia set it true
+    hardware.nvidia-container-toolkit.enable = lib.mkIf (
+      config.nixpkgs.localSystem.isx86_64 && (builtins.elem "nvidia" config.services.xserver.videoDrivers)
+    ) true;
+
+    virtualisation.podman = {
+      enable = true;
+      # The enableNvidia option is still used in jetpack-nixos while it is obsolete in nixpkgs
+      # but it is still only option for nvidia-orin devices.
+      enableNvidia = config.nixpkgs.localSystem.isAarch64 && config.hardware.nvidia-jetpack.enable;
+      # Create a `docker` alias for podman, to use it as a drop-in replacement
+      dockerCompat = !config.virtualisation.docker.enable;
+      dockerSocket.enable = !config.virtualisation.docker.enable;
+      # Required for containers under podman-compose to be able to talk to each other.
+      defaultNetwork.settings.dns_enabled = true;
+      # Container file and processor limits 
+      # daemon.settings = {
+      #   default-ulimits = {
+      #       nofile = {
+      #       Name = "nofile";
+      #       Hard = 1024;
+      #       Soft = 1024;
+      #       };
+      #       nproc = {
+      #       Name = "nproc";
+      #       Soft = 65536;
+      #       Hard = 65536;
+      #       };
+      #     };
+      #   };
+    };
+
+    # Add user to podman and docker group (due to compatibility mode) 
+    # and dialout group for access to serial ports
+    users.users."ghaf".extraGroups = [
+      "docker"
+      "dialout"
+      "podman"
+    ];
+  };
+}
diff --git a/targets/nvidia-jetson-orin/flake-module.nix b/targets/nvidia-jetson-orin/flake-module.nix
index b98b244f8..a10c535e5 100644
--- a/targets/nvidia-jetson-orin/flake-module.nix
+++ b/targets/nvidia-jetson-orin/flake-module.nix
@@ -31,7 +31,7 @@ let
           # For WLAN firmwares
           hardware = {
             enableRedistributableFirmware = som == "agx";
-            wirelessRegulatoryDatabase = true;
+            wirelessRegulatoryDatabase = som == "agx";
           };
 
           services.dnsmasq.settings.dhcp-option = [
@@ -58,6 +58,9 @@ let
 
           {
             ghaf = {
+              #virtualization.podman.daemon.enable = true;
+              virtualization.docker.daemon.enable = true;
+
               hardware.nvidia.orin = {
                 enable = true;
                 somType = som;