Regarding the above discussion, I am also trying to use USB TAP in CodeWarrior 10.6 (Eclipse). I have run the Codewarrior Connection Server (CCS) console and I can see the USB Tap. And it shows up in the Windows 10 64-bit device manager under LibUSB-Win32. However, when I run the new project wizard for a bareboard project, I don't get the "Freescale USB Utap" as Pascal indicated in his post above.

So my questions are:
Is this a visibility issue and I just need to somehow make USB Tap visibile to Codewarror?
Is there documentation on using Open Source JTAG, is that viable with utap?
This might all be moot as I'm using a TRK 5606B kit board and I'm not sure if the MPC56xx series is supported by UTap (wasn't clear to me in the UTap documentation). I have a couple of UTAP devices I'm trying to use before I go buy a P&Emicro multilink universal. Also, I know that I can use osbdm that is built into the TRK and I have used it to run the board and debug it with Eclipse 10.6, but I'm planning to use JTAG in the production board and a bootloader so I thought using the JTAG now would be a better starting point.
I've used the USB Tap previously on a 56F803 board under a non-eclipse version of Codewarrior, so I believe it is working and the LEDs are blinking appropriately.