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Managed to solve this - not sure which step exactly was the fix but as I've been having trouble getting Turtlebot set up with the TK1 lately I've laid out the steps below in case anyone else is going through this process:
NB. Note that order here seems to be important
This worked for me - Turtlebot/Jetson TK1 on L4T 21.4/ROS Indigo - not sure if I was having a udev issue, an issue with current draw from using the Jetsonhacks postFlash script which maxes CPU usage, or just made a configuration mistake. If I was braver I might try all this with Jetpack 3.0 and ROS Kinetic as dependencies are starting to become tricky with this setup - if anyone else has had success let me know!
W