Hi Daniel Cheng,
Take care, MK20DN32VLH5 is not the K2 chip, it don't have the ROM bootloader, so you just can use the flash bootloader which is just the small bootloader code put in the flash by yourself before. Even you use the flash bootloader, you still need to use the JTAG or SWD to program the chip at first, then you can use the according flash bootloader to program your application code.
About the flash bootloader, there has some application notes for your reference without the JTAG or SWD:
1. AN4764 USB Human Interface Device Boot Loader for ColdFire Plus, Kinetis K, and Kinetis L MCUs
http://cache.nxp.com/files/32bit/doc/app_note/AN4764.pdf?fsrch=1&sr=1&pageNum=1
2. AN4379 Freescale USB Mass Storage Device Bootloader
http://cache.nxp.com/files/microcontrollers/doc/app_note/AN4379.pdf?fsrch=1&sr=1&pageNum=1
AN4379sw
3. AN2295 Developer’s Serial Bootloader
http://cache.nxp.com/files/microcontrollers/doc/app_note/AN2295.pdf?fsrch=1&sr=1&pageNum=1
AN2295SW
Wish it helps you!
If you still have question, please contact with me!
Have a great day,
Jingjing
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