Hi cyang,
Thanks for your post. The CodeWarrior Development Studio offers support to the MC56F84763VLH. The relevant download link is as follows:
CodeWarrior® for Microcontrollers-Eclipse IDE 11.1 | NXP Semiconductors
As for the firmware downloading cable/interface, you can use USB cable to connect the board and PC, as the following picture:

Then, explain how to use CodeWarrior Development Studio to program.
1. Open Debug Configurations

2. Select the required project with the suffix "OSJTAG".

Besides, there is also a debugger, the USB TAP.
USB TAP for ONCE DSC | NXP Semiconductors
If you have this, the difference is select the required project with the suffix "USB TAP".
About checksum, you can refer to Generate CRC value for MPC56xx in CodeWarrior for MCU v10.6.4 - NXP Community.
For more information, you can find more detailed information on the "CodeWarrior Development Studio Common Features Guide" document (C:\Freescale\CW MCU v11.1\MCU\Help\PDF\CodeWarrior Common Features Guide.pdf).
MCF5684763 might encounter issues when used on Windows 10/11. It is necessary to update the firmware on a Windows 7 PC. First, short J17 and connect it to the PC via USB. Then the IDE will detect it and a prompt for updating the firmware will pop up.

Hope below message can help you.
Best Regards,
Celeste
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