Hi,
yes, to get FreeRTOS example you need to add FreeRTOS package on top of RTD one. After successful installation you would be able to create new project from demo examples
PetrS_0-1742211287379.png
You did not specify the RTD version you have installed, based on this you need to select right FreeRTOS package version from https://www.nxp.com/webapp/swlicensing/sso/downloadSoftware.sp?catid=SW32K3-REFSW-D
PetrS_1-1742211485333.png
Read package release note document for more info about installation steps and required prerequisites.
BR, Petr