Hello @StanleyShen,
Sorry for the late response.
About the PFE FW version, I am not aware of a method to know which version is being loaded, in theory if you did not modify the yocto recipes it should be the correct one. However you can download them from the FlexNet system, and select the correct version for your BSP, in this case version 1.7.1 [page 2, Linux BSP 38.0 Release Notes for S32G2]:

Do you know the order in which the modules are being loaded? I ask this because it may not be the PFE FW the root cause of your problem, but there could be an memory overload and the PFE is just the one to trigger it, if you change the order of module loading the problem still occurs withe the PFE FW?
Which changes have you done related to the PFE general functionality?
To download the PFE FW from the FlexNet page please follow these steps:
- Sign in to your NXP account (NXP Semiconductors)
- Click on My NXP Account (top-right) and click on Software Licensing and Support under the Licensing section within the window it opens.
- This will redirect you to another page. In this new page, select the option View Accounts under the Software accounts section.
- This will again redirect you to another page. On this page, you should see an Automotive SW – S32G Reference Software.
- Now you should be able to see Automotive SW - S32G - PFE Driver + Standard Firmware
- now you should be able to find S32G PFE Firmware Standard Version 1.7.1 QLP1
This is the direct link: https://nxp.flexnetoperations.com/control/frse/product?child_plneID=817947
Please make sure you are logged in into the FlexNet system before you try to use the direct link.
Let me know if this information was useful or if you have more questions.