The debugger cannot connect to the ARM DAP in non-JTAG boot mode when R5 is configured in lockstep mode.
A debugger configured to attach to running target cannot connect to the PS when booting in SD mode.
This is expected behavior for R5 lockstep mode.
Lock step mode is safety mode, so if if the debug logic is enabled, that willcreate lockstep errors for this mode.
The boot code for the R5 disables the debug logic when boot mode is non-JTAG and lockstep is enabled.
If debugging capability is required, the boot code can be modified to disable such a feature.
Remove/comment the following lines of code from the R5 BSP boot.S