@LucaVertiq Looking at your voxl-camera-server.conf file, it looks like the configurations are flipped in which tracking should be on camera_id: 0 and hires should be on camera_id: 1. Deleting the camera drivers in /usr/lib/camera and reconfiguring should fix that issue in your voxl-camera-server.conf file
rm com.qti.sensormodule.imx214_3.bin
rm com.qti.sensormodule.ov7251_2.bin
voxl-configure-cameras 04