Hello @HiddenSquid,
Thanks for reaching out to us. Regarding your questions, we do not offer a bootloader implementation using FreeRTOS for the M33, we offer an AUTOSAR project called GreenVIP for the S32Z/E family, it includes a bootloader for the SMU/M33 core. My recommendation at the moment would be to compile and debug one of the projects (SMU_LA or SMU_LAV) and check which registers are configured to load the binary and start the RTU cores. You can check section 3.2 GreenVIP booting sequence for S32E2 device and 3.1.3 Boot Service Mode of the GreenVIP user guide for mode details on how it works. I would recommend using SMU_LA, which is simpler that SMU_LAV.
You can download the GreenVIP in AUTO-SW-PACKAGE-MANAGER:
alejandro_e_0-1770324087612.png
Please check the documentation carefully to know how to build it, it can be somewhat confusing sometimes since it is quite a big project.
Let me know if you have more questions