Finally it has been resolved by doing the steps that you described. I just want to share what I did because the steps didn't have detailed information for a novice in nxp tools.
1. download and install MCUXPRESSO-SECURE-PROVISIONING tool.
On ubuntu, I had some dependency error for installation. I've got helped with "sudo apt update" and "sudo apt upgrade"
https://www.nxp.com/design/design-center/software/development-software/mcuxpresso-software-and-tools...
2. Connect the board evkmimxrt595 in serial download mode
2-1) Set the SW7 to Serial Downloader. All three switches of 1, 2, 3 get pushed on. (Default was 1 and 2 off , 3 on)
2-2) Power on the board,
3. Launch the SPT tools above.
- selected board and interface as MIMXRT595S via UART
- Build image : sample_data/targets/MIMXRT595S/source_images/evkmimxrt595_led_blinky_int_ram.s19
- Write image : I checked a checkbox for Use built image so that built image was chosen automatically. (Anything else I left as it was.)
4. Once the Write image step completed by pressing Write image button, power off and recover the SW7 to the previous set, then power on again.
5. Give a debug again. I am able to debug step by step such as step into, step over, etc.