Hi Bryan, Yes, you are correct. The S32K144 does support a bootloader. The bootloader is a small program that gets executed whenever the device is powered up or reset. It is responsible for loading the main application software into memory and then transferring control to it.
To replace the bootloader on the S32K144, you would typically use a JTAG or SWD programmer/debugger. The exact steps can vary depending on the specific programmer/debugger you are using. However, the general process is to first erase the existing bootloader from the device's memory, then program the new bootloader into the appropriate memory location.
As for updating the bootloader through I2C, it is technically possible, but it would require a custom bootloader that supports I2C communication. The standard bootloader provided by NXP for the S32K144 does not support this feature. If you need to update the bootloader over I2C, you would need to develop a custom bootloader that includes this functionality.
Hope this helps!