The only option I can see is that MASTER_ECU_KEY is wrong. It's also description of that error in S32K1 reference manual:
"ERC_NO_DEBUGGING. Example: DEBUG command authentication failed"
In the original project, this key is used as MASTER_ECU_KEY (can be found in csec_utils.c):
uint8_t g_authIdKey[16] = {0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0c, 0x0d, 0x0e, 0x0f};
It is used in eraseKeys() function to reset the device back to factory state.
Have you modified this key? It's not possible to erase the keys without knowledge of current MASTER_ECU_KEY.