IPC communication between Xavier SOC and MCU(Aurix TCxxx)

Please provide the following info (check/uncheck the boxes after creating this topic):
Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version

Target Operating System

Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)

SDK Manager Version

Host Machine Version
native Ubuntu 18.04

On the AGX Xavier, Open DDS is included in DriveOS for IPC, our understand is DDS is for Xavier SOC but not for MCU(Aurix TCxxx), is it right?

Assume Linux is used on Xavier SOC, and certain RTOS(FreeRTOS, SafeRTOS or sth else) on MCU(Aurix TCxxx), we are wondering what software mechanism does NV recommend for the communication between Xavier SOC and MCU(Aurix TCxxx)?

Dear @hfkou,
Have you checked https://docs.nvidia.com/drive/drive-os- ?