Hi @Eiffel
I hope to find you well!
We have the standalone LinkFlash tool, you can use it to program and erase without using the MCUXpresso IDE over SWD/JTAG. It supports the same MCUs that the MCUxpresso IDE does, including your LPC55s26 and i.MX RT106s.
Hi @Eiffel there is an Edit: I am checking if does support the JTAG protocol for the MCUs that you are using . Btw, could I know which probe are you using?

The linkflash simply calls linkserver commands to do those basic operations. You migth use the tool to get familiar and later on create your own script, using the sample linkserver commands that the tool uses.
The tool is included as an exe in the linkserver package ( check for this path C:\nxp\LinkServer_24.12.21 ) The linkserver package can be dowloaded independently, or installed along the MCUXpresso IDE. If you are using Windows you can type linkflash on the start menu and find it easily.
This is the standalone option we could offer to program over SWD. Feel free to explore as well with our partners if suits better for your production case, for example Segger or PE micro. Segger provides have plenty options for your use case, for example J-Link commander, J-flash etc.
I hope this could help you.
Diego