According to the I.MX RT1060 Reference Manual, section 10.3:
The IOMUX consists of a number (about the number of pads in the SoC) of basic
iomux_cell units. If only one functional mode is required for a specific pad, there is no
need for IOMUX and the signals can be connected directly from the module to the I/O.
The IOMUX cell is required whenever two or more functional modes are required for a
specific pad or when one functional mode and the one test mode are required.
Note the bold section I highlighted. Every example I've ever seen uses the IOMUX. How do you connect a signal directly without the IOMUX? I don't ever plan to use pads for multiple functions or for test and function at the same time.