Hello @cszhang,
Thanks for all the information. I will need to check if S32DS 3.6.7 works with RTD 2.0.1, the official supported version is 3.6.1:

However, following the AN12530, using 33 ohm resistors is not the best approach, the recommended connections shown in section 7 Example schematics show 0 ohm resistors in series:

Please try using 0 ohm resistors and let me know if the behavior changes.
If the problem persists, please share the state of the BOOTMOD pins in your board.
Thanks.