Downgrade from DRIVE OS 5.2.0 to DRIVE Software 10 is all done by sdkmanager except Aurix firmware.
After installing with sdkmanager, if you notice any problems with DRIVE Software 10, please refer to Flashing AURIX to flash DRIVE-V5.1.6-E3550-EB-Aurix-With3LSS-ForHyperion-StepA-3.05.04 with memtool on windows host (because Flashing AURIX on Xavier doesn’t work).
Important: In any case, do NOT click erase button to erase the UCB area. Once UCB is erased, the chip is dead.