Hi Anuj Tanksali ,
It's related to the hardware.
I checked all your 4 pins:
GPIO_AD_B0_00 TOUCH_XR_IN CMP1, IN4
GPIO_AD_B0_01 TOUCH_YD CMP2, IN4
GPIO_AD_B0_02 TOUCH_XL CMP3, IN4
GPIO_AD_B0_03 TOUCH_YU_IN CMP4, IN4
No one is the ADC pins, these are the CMP pins.
But CMP is used to compare function:

So, if you want to get the detail pin voltage, you need to change the hardware, and connect your touch pin to the ADC interface instead of the CMP interface.
About the ADC pin, you can check the RT1064 RM Table 9-1. Muxing Options.
I don't think you can use the CMP to realize the ADC function.
Wish it helps you!
If you still have questions about it, please kindly let me know.
Have a great day,
Kerry
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