Hi @Chase1234 ,
I think about Semaphore as description below:

Semaphore used to prevent multiple Domains access to memory/Peripheral in same time. XDRC used to manage these Domains. But, if just only one Domain used, Semaphore is unnecessary to use. From this, driver is handling to configure XDRC is mandatory when enable Sema42.
In driver, XDRC is always used when want to lock gate without any guarding.

Best regards,
Nhi