Hi Kun Liu,
After download and install the S32_SDK_S32K1xx_RTM_4.0.0, I was able to see the S32SDK_for_S32K1xx_RTM_4.0.0_ReleaseNotes in folder (C:\NXP\S32_SDK_S32K1xx_RTM_4.0.0).

The "6.3 Compiler and IDE versions" shows that the S32 Design Studio 3.3 IDE support S32_SDK_S32K1xx_RTM_4.0.0.
Moving forward the support for S32K1xx / S32K1xxW will be integrated as part of the S32 Design Studio for S32 Platform. You can find the latest version (v3.3 released June 2020), in the Downloads tab of this IDE variant:
S32 Design Studio | NXP

Unfortunately:
There are still some errors when build the project of SDK4.0.0 using S32DS 3.3.
"By default, There was no platform integrated in S32DS. In order to use S32DS for S32K1xx. Users need to install the development package for S32K1xx but this package is from another team We are in discussion with that team to request them publish it"
Best Regards,
Robin
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