Hi,
Thank you so much for your interest in our products and for using our community.
We do not have an app note for Six-Step Commutation Control like we have for Field-Oriented Control, nor do we have an example for a non-SPI gate driver. An apology for the inconvenience.
However you could refer to S32K344 - Six-step commutation control and also to 4. Software implementation on the S32K344 section from AN13767, which is a demo with similar Software Architecture.
Hope it helps you.
Have a nice day!