Hi Thinh Nguyen,
I think I have this working now, it appears to generate an sdk, although I have not tried it yet.
I think the full steps are:
1. Do the standard build
lunch sabresd_6dq-eng
make
2. Build the missing tools
make dmtracedump
make etc1tool
make split-select
make bcc_compat
make apksigner
make dx
make libaapt2_jni
make layoutlib-legacy
3. a) Edit the file development/build/sdk.atree to comment out the reference to userdata.img
##############################################################################
# System image Component
##############################################################################
# System images + Kernel
system.img system-images/${PLATFORM_NAME}/${TARGET_CPU_ABI}/system.img
ramdisk.img system-images/${PLATFORM_NAME}/${TARGET_CPU_ABI}/ramdisk.img
#userdata.img system-images/${PLATFORM_NAME}/${TARGET_CPU_ABI}/userdata.img
system/build.prop system-images/${PLATFORM_NAME}/${TARGET_CPU_ABI}/build.prop
# Note: the kernel image is handled by sdk-android-<abi>.atree now.
3. b) Alternatively, it appears that you can enable the creation of userdata.img (I have not tried this): https://community.nxp.com/docs/DOC-105198
4. Edit the file development/build/sdk.atree (again) to comment out the reference to EmulatorSmokeTests.apk
##############################################################################
# Tests Component
##############################################################################
#system/app/EmulatorSmokeTests/EmulatorSmokeTests.apk tests/emulator-test-apps/EmulatorSmokeTests.apk
5. Build the sdk
make sdk