I am encountering the same issue, but on the IMXRT685S EVK. The device is able to succesfully boot a signed Master Boot Image with the correct keys loaded into the RKTH shadow registers. However, calling skboot_authenticate on the same memory region, both in RAM and on external flash, result in kStatus_SKBOOT_InvalidArgument. Taking inspiration from SBL, calling kb_init results in a non-defined return code "10".
Verifying that it works using the Secure Provisioning Tool is not helpful, as the EVK probe presents multiple HID devices, which blhost as used by the Secure Provisioning Tool does not handle correctly.
The wording in UM11147 is not 100% clear on how this function should work. I have also tried verifying a SB1.2 image but that also returns kStatus_SKBOOT_InvalidArgument.
The ROM uses this function during the Secure boot flow to authenticate 1st boot image, and it also uses it to verify authenticity of the SB 2.1 files.
Can you verify that the MIMXRT685S skboot_authenticate should be able to verify correct Master Boot Images from a booted first application?
If you have an engineer that can hop on a call to clear this up, that would be great.