Thanks for the hint @Alex-Gardner, I tried two separate modules on 3.3.0, 3.6.0, and 3.8.0 and they worked just fine, it is only with system image 4.0.0 and voxl-sdk 0.9 that neither one works which makes me conclude that it's not the sensor but something with the software. Also both modules works just fine when run by themselves, it is only in conjunction with other sensors like stereo/tof that the hires is causing issues.
Are you seeing this IP address as the output of the command or via ifconfig ? I believe the rtsp command line command will spit out 0.0.0.0 (i.e. localhost-ish), but use ifconfig to find the real IP address and use that.
Indeed it was the diodes! I was able to fix one board by bridging the pads with some solder, the other one had the pads completely gone. Very strange, the flight cores are powered by the VOXL with the serial pins connected as well, but I don't see how that could cause hardware damage?
I was able to resolve this issue by trial and error of the camera orientation, it seems like the documentation is outdated and does not provide an accurate reference for a starting point to obtain the proper values.