hi,smp9
Thank you for contacting us.
1.Refer to the Reference Manual,the architectural intent behind this definition is defined in the Arm CoreSight Architecture 2.0 document. The CoreSight specification allows each debug target to support only some of the functionality defined by the authentication interface.

2.S32 Design Studio (S32DS) and NXP S32 Debug Probe support JTAG debugging, while S32 Debug Probe supports single-target connections.

Hope this can help you.
BR
Joey