I think you cannot install Matlab on Nvidia Xavier. However Matlab GPU Coder allows you to connect to the Nvidia devices to prototype your code.
You can find out more details here
Excerpt from documentation
GPU Coder™ generates optimized CUDA® code for deep learning, embedded vision, and autonomous systems. The generated code calls optimized NVIDIA® CUDA libraries and can be used for prototyping on all NVIDIA GPU platforms.
GPU Coder Support Package for NVIDIA GPUs automates the deployment of MATLAB® algorithms on embedded NVIDIA GPUs by building and deploying the generated CUDA code on the target GPU hardware board. It enables you to remotely communicate with the NVIDIA target and control the peripheral devices for prototyping.
GPU Coder supports NVIDIA Jetson TK1, Jetson TX1, Jetson TX2, Jetson AGX Xavier, and DRIVE PX2 Developer kits.