Hi Kalai,
FreeRTOS is SDK component. Just create new project based on SDK and add FreeRTOS component into your project.
SDK documentation is (with default install path) in folder:
c:\NXP\S32DS_Power_v2.1\S32DS\software\S32_SDK_S32PA_RTM_3.0.3\doc\
FreeRTOS documentation you can find here:
https://www.freertos.org/FreeRTOS-quick-start-guide.html#page_top
Jiri