Kinetis K22 is used to implement CMSIS-DAP interface, which is an interface between USB and processor debug port. Yes, there is a way to disable it and use JTAG pins to connect external debug probe, for example CodeWarrior TAP. To disable CMSIS-DAP please switch SW3[6].
CodeWarrior IDE is our integrated development environment, it consists of a number of tools - compiller, linker, debugger, flash prorrammer, hardware diagnostics tools, configuration tool, DDR memory validation tool and etc. 30-days evaluation version is available for free, you can test all functions before purchase. Annual price starts from $2999 (for developer suite).
CodeWarrior TAP is debug probe for CodeWarrior software, this is relatively complex device with its own processor and operating system inside, but not just a simple "adapter". If the price of this device is not acceptable, than there are several other options - you can use CMSIS-DAP for example.
Lauterbach software is supported by Lauterbach company, please address Lauterbach-related questions to this company directly. Here is a direct link to support page at their public site:
https://www.lauterbach.com/tsupport.html
