Try to insert h264parse after nvh264enc, which can add PPS in the stream
gst-launch-1.0 videotestsrc is-live=true ! nvh264enc ! h264parse
config-interval=1 ! mpegtsmux ! hlssink playlist-length=100
target-duration=5 playlist-location=nvh264enc.m3u8 location=nvh264enc%u.ts
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