Dear Sir,
In AN5426, Hardware Design Guidelines for S32K1xx Microcontrollers, Rev. 4, Figure 20, Connection of I2C-bus devices to the I2C-bus. RP1 and RP2 both pull up SDA, and SCL is not pulled up.
I believe this is an typo error. RP1 and RP2 should pull SDA and SCL respectively.
Regards.