Hi Lawrence,
Unfortunately multiple OS's are not supported on i.MX6Q. There is an option with iMX6SX and IMX7D featuring A9 and M4 cores where you can use FreeRTOS in the M4.
If you are interested you can take a look to the 'Software and Tools' tab in the IMX6SX and IMX7D pages.
www.nxp.com/imx6SX
www.nxp.com/imx7D
Regards,
Carlos
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