If you read the JEDEC DDR4&LPDDR4 spec, you will find the auto calibration(training) is mandatory.
So, that is why the ddr stress test tool now is real ddr stress test.
Before the stress test tool for i.MX6(DDR3, LPDDR2) has one very important function is calibration.
BTW, the IP integrated in i.MX8/i.MX8X/i.MX8M families also can do the auto calibration for DDR3, although it is not required in DDR3 spec.
The DDR IP inside the i.MX6 and i.MX8/i.MX8X/i.MX8M, they are different.
Suggest you can read the spec.