Hello,
For the i.MX MPUs we do not use eRPC, we use RPMSG-Lite, you may find the examples inside the SDK package located at:
<SDK installation path>\boards\mcimx93evk\multicore_examples
Also, there is some demo examples like power_mode_switch, low_power_wakeword and sai_low_power_audio that use different aproaches/peripherals located at:
<SDK installation path>\boards\mcimx93evk\demo_apps
Best regards/Saludos,
Aldo.