voxl-suite 0.4.6 is a little outdated now. You should be able to run opkg update and opkg upgrade to update to voxl-suite 0.5.0.
voxl-tag-detector and voxl-vision-px4 are meant to run as services in the background. If you launch them manually from the command line you will see something like:
existing instance of voxl-tag-detector found, attempting to stop it
Since two instances of the binary shouldn't run at the same time, it stops the background service first before continuing. The service would then need to be started again in the background with systemctl start voxl-tag-detector. Alternatively you can use the voxl-inspect-* tools which simply print output data published by the service without stopping the service. voxl-inspect-tags will show when tags are detected similar to voxl-tag-detector -d but in a less invasive way.
Similarly, voxl-inspect-pose will show the local and fixed-frame locations of the drone without needing to launch voxl-vision-px4 manually which also kills the background instance of voxl-vision-px4.
10.6cm is very small for an Apriltag and it is unlikely the tracking camera will be able to identify it from the air. I see you are holding it very close (13cm) away in your debug prints. We typically use tags around 40cm large such that they can be seen from 2+ meters away with the wide fisheye lens.
Note that when the tags are detected, the output of voxl-inspect-tags and voxl-vision-px4 --debug-tag-cam will both print the location and rotation of the tag's coordinate frame with respect to the camera's coordinate frame. This relation has nothing to do with VIO or world/body coordinate frames. voxl-tag-detector only has the camera input stream available and is unaware of the camera's mounting position on the drone, or the drone's location in space. All coordinate transforms are done in voxl-vision-px4.
Running voxl-vision-px4 --debug-tag-local will show where it thinks the tag is with respect to the local coordinate frame (centered wherever VIO initialized). If the tag does not move, you should be able to move the drone around and the predicted location of the tag in local frame should remain mostly constant with a little noise from the detection error. (assuming the tag remains in view of the camera). I recommend running voxl-inspect-tags simultaneously in another window to ensure the tag is detected while doing this.
Although this video is based on an older software stack, the geometry and coordinate frames referenced have not changed. I hope this helps a little in understanding the debug outputs.
Let me know if this helps,