Hi Aron,
As I know, AN4874 don't have the according software, but don't worry, I recommend you refer to AN5219, this application note is also about the KE06 CAN bootloader, this application note already contains the software, please check it from this link:
1. AN5219 application note
https://www.nxp.com/docs/en/application-note/AN5219.pdf
2. AN5219SW
https://www.nxp.com/docs/en/application-note-software/AN5219SW.zip
Wish it helps you!
Have a great day,
Kerry
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