J721S2XSOMXEVM: Can't debug J721S2XSOMGG01EVM using CCS

Part Number: J721S2XSOMXEVM

Tool/software:

 
Hi, I would like to connect to the J721S2XSOMGG01EVM attached to the J721EXCP01EVM mother board. I am using CCS Version: 12.8.0.00012. I would like to use the on-board debugger XDS110. It seems the JTAG communication to J721S2 is operational since it is able to access the DAP of the chip, but after that I am getting an error 2081:

I checked the DIP switches and I have them set as default.

Should it work "out of the box" or do I need to add some .gel script manually?