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CC2640R2F: Problem connecting and programming with XDS110 probe

Part Number: CC2640R2F
Other Parts Discussed in Thread: CC2640, LAUNCHXL-CC2640R2

I have having issues in loading code into a CC2640r2f based sensor using a recently purchased XDS110, I am able to load code but not by pressing the debug icon, which generates the following error "Error connecting to the target: error: Cortex_M3_0: Failed to retrieve the Wait in Reset Mode: (Error -6311) PRSC module failed to write to a register. (Emulation package 8.2.0.00004).I am unable to find an explanation  of this error.
If I select the target configuration, then perform a connect followed by a load program this loads the program and I am allowed to debug. I am using v 9.1.0.00010 on ubuntu 20.10.

We are using a module that incorporates a CC2640 (Innocomm SN10-21) we have developed with their EVM which has capabilities similar to LAUNCHXL-CC2640R2 but is not one. We have now moved to our own designed board incorporating the SN10 module and have bought the XDS110 we now have the issues detailed.