Hi, AnhTuNguyen, @AntoniaSchroff's colleague here.
Thanks for the info! For the record, we're facing the same issues - remapped sockets and the RGB/CAM_A slot preventing RGB cameras on other sockets from working. Similarly, when the RGB cameras are on D, E, or F sockets, they work.
The mapping of our sockets is (board markings -> API): A->A, SA->B, SB->C, D->F, E->D, F->E.
Going back to your first post in this thread, our RGB sensors also get recognized as "imx412", we use IMX477. Prior to flashing the device with the LuxonisOS 1.2 as described in the "Luxonis S3 Dev Kit" document, the sensors were recognized correctly.