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TDA4VH-Q1: Can the devices of Main Domain and MCUDomain of TDA4VH access each other?

Stanley Shen
Prodigy 30 points
Part Number: TDA4VH-Q1
Other Parts Discussed in Thread: TDA4VH

Tool/software:

Can the devices of Main Domain and MCUDomain of TDA4VH access each other?
For example, can we use CPSW2G from MCU Domain in MAIN Domain?
Can Main Domain's 18xCANFD be used in MCU Domain