The bootloader driver requests the Security Handover, which results in the SYSFW relinquishing the security services like FWL, before self resetting the core.

https://github.com/TexasInstruments/mcupsdk-core/blob/6a622a5c2729c5ad10ba066646944609dc0c64bb/source/drivers/bootloader/soc/am64x_am243x/bootloader_soc.c#L1004

This is a design choice which may not be preferable for certain users. As such, the SDK documentation needs to document the design choice explaining the reason and the implications of the design choice for the customers to accordingly design their system.