Hi Maciek,
Regarding the KV58, yes, the boards you listed are exactly what you need to evaluate the motor control toolbox and motor control on Cortex M7 derivatives in general.
For S12Z, the best kit is:
3-phase Sensorless BLDC Development Kit|NXP
Whether it is an issue or not that there's no FPU on S12 cores depends on what you're trying to do. Our motor control toolbox includes blocks for our motor control libraries that are highly optimized and use fixed point arithmetics and we are able to build typical motor control applications with them.
For our DSC, the recommended board and family that's supported on MC Toolbox is:
Tower System Module for MC56F823xx, MC56F827x|NXP
It'll also work and be compatible with the LV3PH board that you referenced in your question.
Lastly, regarding the download I will need to refer to my colleague mikedoidge for help.
Let us know your comments.