After a quick check, I have no KW41Z at hand.
What I have attached is a CodeWarrior for MCU 10.x/11 project for the KL25Z which uses such a HC44780 2x16 LCD.
You can have a look at the driver in
Generated_Code\LCD1.c and LCD1.h
It should be fairly simply to use that with any project or SDK.
Or I see if I can make a port for the MCUXpresso SDK 2.5.0, but I would have to use something different than the KW41Z.
I hope this helps,
Erich