Hi,
Below will be some comments on regards of your questions:
Q1 > What does OCOTP_GP6_127_96 mean in the register?
[NXP]: This is related to the mapping of that specific FUSE address. We can see that under the S32G2_Fuse_Map_Table.xlsx file embedded under the S32G2 RM the following address is provided for GP6[127:96]:

For which 0x384 is the address of GP6[127:96].
Q2 > We want to program the field BOOT_CFG1[31:0] - ADDR=0x234 field. Which shadow register value corresponds to this?
[NXP]: Seeing the file mentioned before, the address should be the one you are mentioning (0x234). For the shadow register, we understand that the calculation is as follows:
Shadow Register = (Address - 0x200) / 4;
We can verify this by using the registers you are showing:
- GP6_127_96 Shadow Register = (0x384 - 0x200) / 4 = 0x184 / 4 = 0x61 = 97
- GP6_159_128 Shadow Register = (0x388 - 0x200) / 4 = 0x188 / 4 = 0x62 = 98
Don't know if this helps.
Also, as you are mentioning this is a one-time operation and cannot be taken back, for which care should be taken with the configuration being chosen. We can recommend contacting your local NXP FAE/DFAE/representative for confirmation on these settings.
Please, let us know.