> Please confirm that MK20DX128VFM5(CMSIS DAP) must require for programming and debugging of LS1012A?
The MK20DX128VFM5(CMSIS DAP) is optional.
> I am planning to program and debug it through direct 10-pin JTAG Header so is it OK?
This is OK.
> Can you please explain the use case of CMSIS_DAP(MK20DX128VFM5) Interface?
The MK20DX128VFM5(CMSIS DAP) is a low-cost debug option.
When CodeWarrior TAP is not used the CodeWarrior could use CMSIS DAP to establish debug connection. Drawback of the CMSIS DAP approach is its significant slowness in comparison to the CodeWarrior TAP.