Hi @wawan2,
Thank you for your interest in the NXP MIMXRT product, I would like to provide service for you.
Yes, it is possible use SWD to debug the i.MX RT1176 controller.
IMXRT1170RM described in 7.9 chapter.

I suggest set the automatic frequency, Setting the frequency too high or too low may not be suitable.
For example, The following picture shows J-Flash automatic frequency.

Yes, the three wires SWD_CLK, SWD_IO and GND together form the communication basis of the SWD protocol.
Wish it helps you.
If you still have question about it, please kindly let me know.
Best Regards
mayliu