it looks like that you are using S32DS for Vision - but I don't understand your question. If you are developing software for S32V234 - the S32DS for vision is right choice for future project development.
Yes, you can create and build your custom APEX kernel in S32 Design Studio for Vision.
I'd recommend you to start with a new APEX project using Graph tools.
Select File -> New -> Project:
Hope it helps.