You could use flash programmer to recovery the board. You could find the user case from C:\Freescale\CW4NET_v2020.06\CW_ARMv8\ARMv8\Help\PDF\ARMv8_Targeting_Manual, page 140, if the customer board support RCW override. If not , please use Hard-Code RCW.
It is recommended to disconnect RESET_REQ_B from PORESET_B when recovery the board.
For the flash commands, please refer to C:\Freescale\CW4NET_v2020.06\CW_ARMv8\ARMv8\Help\PDF\ARMv8_Targeting_Manual, page 96.