Hi @vnevare ,
Thanks for your interest in NXP MIMXRT series!
RT10XX uses SWD as debug interface by default, if you want to use JTAG, you need to burn eFuse, please refer to this section in RM:

Note that eFuse can only be modified once, meaning that if it is changed to JTAG there is no way to change it back to using SWD. Also, regarding the SJC module, NXP provides a related AN for clarification: link
Best regards,
Gavin