I'd recommend you to install the latest update (S32 Design Studio for Arm v2.0 - Update 2 available)
It includes the latest S32K14x SDK v0.8.5 EAR - see the release notes attached with the release announcement for more details about features and "What is new".
On main menu bar click on File -> New S32DS Application project
Select S32K144 device and put unique project name
In next step select S32K144 SDK:
Double click on processor expert and add FreeRTOS component. Don't forget generate Processor Expert code.
Change FPU instructions settings by right click on project name -> properties
Other way is use and modify FreeRTOS example.
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