Hi @UmaMaheswaraReddy
Summarizing, the PIDs are used to create multiple classes of cores, each in different domains. please refer to sections 19.5.5.2 (PID-based domain assignment) and 19.5.7.2 (DFMT0 PID-based domain assignment example) of the S32K3 reference manual.
Additionally, the S32G family has an XRDC module. This family has an application note that explains in more detail this module. I recommend you to use it as a reference.
IMPORTANT: The modules ARE SIMILAR, but they are NOT THE SAME, so you need to take care and consider the differences between the technologies.
AN13024: S32G2 Extended Resource Domain Controller (XRDC) Application Note