T3.2: How do I program compiled code onto the MK20DX256VLH7 using a U-MULTILINK-FX ?

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I am currently using a Teensy 3.2 board, which consists of a MK20DX256VLH7 as its main MCU. I am compiling the code for it using Arduino IDE, and uploading code to it via Arduino IDE (USB).

Now I have made a new breakout board, whereby I have have removed the USB connector (and the accompanying USB communication chip - the MKL) and exposed the JTAG pins. Then I want to take the elf/hex files that have been compiled using the Arduino IDE, and then upload them to to the MK20DX256VLH7 using JTAG pins and the U-MULTILINK-FX programmer. So, how do I do this?

I have tried using MCUXpresso, but I find it very difficult to work with this. I'm getting lost in the all wizards and menus and buttons and settings.

I know this is not really a Teensy question but any help would nonetheless be much appreciated! :)

Many thanks!
This may do what you need but it is $199. https://www.pemicro.com/products/product_viewDetails.cfm?product_id=15320138&productTab=1
Only other thing I could find is this article. https://mcuoneclipse.com/2017/05/06/using-eclipse-to-program-binary-files-to-an-embedded-target/

Is this for a personal project? It might be worth buying a Segger J-Link EDU or BASE. I have used a J-Link to upload code and debug a modified Teensy 4.1 using Segger's tools such as J-Flash Lite. PlatformIO or VisualTeensy will allow you to use Segger's tools to upload and debug in VSCode. It may take some configuring and troubleshooting to get it going but this is the route I took.
Another option is retain full teensy system compatibility by building a small MKL02 board and temporarily connecting it to your board (using SWD).
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