Hi Thomas,
Searching for "tolerant" in the Reference Manual you quoted gives:

Searching the corresponding Technical Data Manual gives some more details.
Searching for open-drain given inconclusive results e.g. selected pins. I don't know who got to select which ones :smileyhappy:
In practice you can check by seeing if the ODE bit is implemented/can be modified in the PCR register (using the debugger).
I have tried to use pins as open-drain with 5V pull-ups on a MK20 but I found the results less useful than expected. When configured as inputs the pin would pull-up to 5V but not when configured as output, even with open-drain.
I presume the high-drive device was still interfering. I did not test this extensively since it was not critical but it would be a good idea to check if you get better results.
Let me know if you get better results.
bye