Hello, @Karthik_7
Thanks for the question.
Generally, for your issues, I suggest referencing the AN13750, which could be downloaded from the S32G product page.
A bootloader is created, which could boot the A53 cores with BSPs, and also boot the M7 core with your specific application image. Seems it could fulfill your requirements based on the example shown in this document.
Hope it helps
Best Regards
Chenyin