I am currently using the AN3927 (USB Bootloader MSD) framework to update our product that uses a MCF51JM128. I am having issues with updating the firmware with Windows 10. It pops up as a drive on my host computer and I am able to copy to it, but after reboot it always fails with a SF734138 error. Still works fine with Windows 7, but less and less of our customers have a machine running 7 or XP.
Actually I am still not updated to WIN 10. So for your case, you may make reference below tread:
P&E had update the OpenSDA driver for Win 8.1, not sure if work for Win 10, You can try.