Hi @abs_setian
My apologies for the delayed response.
I understand that you want to debug your XIP image living and this address 0x6010_0000.
For debug purposes, I would link the application to RAM. This would be easy. Easiest method is linking to internal SRAM ( OCRAM, ITCM , DTCM). MCUXpresso does support this option and enables easy debug for this.

If the application cannot fit into internal SRAM, I would use an external SDRAM. This post links how to create enable SDRAM debug. See the answer in this post RT1170 debugging when application is built for SDRAM
You can load your application at 0x6010_0000 let your bootloader to jump to the application and then manually attach the debugger when the application is executing. MCUXpresso should let you do this. I understand that you are using MCUXpresso when you mentioned about the scripts

Now, if you really do not want to use the bootloader and debug the application at at 0x6010_0000. You need to set the image start address of the Image Vector Table (IVT) to this area.

However, the IVT does need to always be placed at 0x6000_1000. The bootROM will always search the IVT at this address when attempting to boot XIP images. So, you may need to overwrite the bootloader space, in this scenario. This video introduces boot flow, IVT and other elements of bootable images shortly and nicely NXP: MCU Tech Minutes: Boot Options for i.MX RT Crossover MCUs. If you want to follow this path, let me know, so I can give you more information.
I hope this helps!