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CC2640R2F: XDS110 debugger cannot connect to the chip

Part Number: CC2640R2F

Tool/software:

I have a XDS110 emulator and a custom-made board that uses a CC2640R2F, the debug port is 2-wire cJTAG.

When I connect the emulator to my PC(Windows 11) it shows up in device manager, and was able to be identified by CCS 20.

However when I tried to create a "project-zero" and check the connection I got -242 error, which states "a router subpath could not be accessed".

I also tried IAR, and got same errors (the error should be returned by the device driver, both IDEs are just talking to the driver)

Here I have two questions:

1) I want to isolate the problem, does this error means the XDS110 is buggy, or the target board is buggy? I checked the connections they looked fine.

2) SmartRF programmer 2 cannot identify CC2640R2F as well. What should I do next to see what's going on? (I don't have any launchpads around so I cannot cross-compare).

Thanks!