Hi HK,
CodeWarrior is produced by NXP and Cosmic is produced by Cosmic Sofeware. Thus they are supported separately.
One difference is, CW for S12Z is based on eclipse. Cosmic for S12Z is not.
CW is sold as suite. when purchase CW for S12Z, CW for all NXP projects are included in the package.
Cosmic SW is NXP respected partner. For me, it's hard to say which is better for user. But each of them has evaluation version, you can download them and try on your side.
https://www.nxp.com/support/developer-resources/software-development-tools/codewarrior-development-t...
Cosmic Development Tool Package for S12Z|NXP
Have a great day,
Jennie Zhang
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