Hi Alan,
Please take a look at Section 1.13.3.1 Motor Control Loop Overview in the RM.

As you can see, TIM OC0 generates a commutation event that is used by PMF to generate an async_reload event.
The ADC is then triggered by the PTU module.
You can refer to:
MTRCKTSBNZVM128: 3-phase Sensorless BLDC Development Kit with S12 MagniV S12ZVM
https://www.nxp.com/design/development-boards/automotive-motor-control-solutions/magniv-and-s12-solu...
AN4704 3-phase Sensorless BLDC Motor Control Kit with the S12 MagniV MC9S12ZVM
https://www.nxp.com/docs/en/application-note/AN4704.pdf

Regards,
Daniel