In the post you refereed to they require you to get that zip file from the MX53 BSP package.
3. Unpack the Freescale Android USB win driver "android_usb_fsl.zip" in your Android BSP release package. If you can't find this file in your current package, please get the R10.3.x release for i.MX5x and unpack it.
4. File "tetherxp.inf" in the unpacked "android_usb_fsl" may not be the updated one if the "android_usb_fsl.zip" is extracted from an old release. So, please overwrite the file "tetherxp.inf" in unpacked "android_usb_fsl.zip" by the new "tetherxp.inf" in your current Android BSP release.
I got this zip file, replaced the "tetherxp.inf" file from the MX6SL BSP and installed. A new device (Android ADB Interface) now shows up in my device manager but has an error: "This device cannot start (Code 1)" which implies the driver is wrong.
Try downloading the MX53 BSP and let me konw if you have any luck.
So far this is still not working for me.