I hope you are doing very well.
Inside of the SDK folder, you will find a folder called freertos_exmaples:
linux@machine:~/SDK_25_03_00_MCIMX93-EVK/boards/mcimx93evk/freertos_examples$ ls
freertos_event freertos_generic freertos_hello freertos_mutex freertos_queue freertos_sem freertos_sem_static freertos_swtimer
linux@machine:~/SDKs/SDK_25_03_00_MCIMX93-EVK/boards/mcimx93evk/freertos_examples$
You can Download the tool, and then export an environment variable for compile:
$ export ARMGCC_DIR=~/cortex-m-toolchain/arm-gnu-toolchain-13.3.rel1-x86_64-arm-none-eabi
Then, go to the project you want to compile, for example "freertos_hello". Inside of the directory, you will find another one with name "armgcc". There are the necessary scripts to compile the project:
#Inside of "armgcc" directory
$ ./build_release.sh
$ cd release
$ ls
freertos_hello.bin freertos_hello_cm33.elf
Now you can load the examples to the board.
Best regards,
Salas.