You are right :
According to section 3.1 (DDR2) of app note AN4466 “i.MX53 DDR Calibration” :
Although ODT activation is not typical for DDR2, it should be noted that the ZQ
calibration is recommended for setting the right VCC/2 bias for the DDR2 signals.
Also, with the ZQ calibration, the drive strength can be calibrated too.
Please look at the next command from the enclosed DDR2 init script :
// Enable ZQ calibration to tightly control the impedance of the DDR IO pads
setmem /32 0x63fd9040 = 0x04b80003 // keep ZQ HW control values and enable it
The script may be used as an DDR2 init example.