Hello @sgsekhar
For the i.MX processors, FreeRTOS is only supported by Cortex M cores, but i.MX MPUs have both cores, Cortex A and Cortex M, you can run an Operating system like Linux/Android in Cortex A and FreeRTOS on Cortex M.
Also there is available a solution for a Linux in real time called Real-Time Edge.
The processor that support all the features that you require (Cortex A, FreeRTOS and Zephyr) are:
Best regards,
Salas.