Hello Steve:
Sure this is possible with CodeWarrior. You still need a dummy project to hold your debug configuration, but just select "Connect" as session type in CodeWarrior. Check the next tutorial by our colleague Erich Styger:
Hot-Sync: Attach, Connect & Download | MCU on Eclipse
Just be aware that the tutorial was for an earlier version of CodeWarrior (I think it was CW v10.3). In CW v10.5, or the latest version 10.6 lauched a couple of days ago, you will have something like this:

Hope this helps
Regards!
Jorge Gonzalez
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