Hello 翔李,
You are correct, there are three possible ways to feed the RTC: using a crystal, through an external oscillator or by using the on-chip loose tolerance 40Khz oscillator.
The voltage requirements for XTALI can be found on table 21 of the i.MX6D Datasheet (link below).
https://www.nxp.com/docs/en/data-sheet/IMX6DQCEC.pdf
You can find more details on the requirements for the RTC clock (crystal or oscillator input) on Table 2.7 of the HW Design Guide (link below)
https://www.nxp.com/docs/en/user-guide/IMX6DQ6SDLHDG.pdf
You may use the PCF8563 as an external RTC with the i.MX6. In that case using the on-chip oscillator should be okay since the precise RTC is being handled externally.
I hope this information helps!
Regards,