As that video says, Daytona was never released on Naomi. Daytona USA was a Model 2 board, which is three arcade generations before Naomi IIRC. Daytona USA 2 was a Model 3 game. The first game was ported* to Dreamcast, which was a slightly cut-down Naomi board in a box.
I did post a Model 3 emulator to the ports request thread, but it never reached a non-beta state (although it seemed to be able to handle Daytona even as a 0.3 release), and it hasn't had an update in years. I doubt MAME-type cycle-exact emulation is going to be able to handle Daytona any day soon on handheld hardware, so you'll need a slightly hacky system emulator. There is a model2 emuator that's been handling Daytona on PCs for years, but it appears to be closed source.
* Well, more of a remix than a port, I guess.