this is report in slack group:
- I had to do a small fix in board/linker_scripts/link.lds file.
line 81, should be:
ivt_begin = ORIGIN(m_boot_data) + LENGTH(m_boot_data);
(add a space between ivt_begin and "=“).

- For unknown reason I had to set DEMO_PANEL_RK043FN66HS as default in imxrt1060-nxp-evk/board/Kconfig
Leaving the DEMO_PANEL_RK043FN02H was not working even after selecting RK043FN66HS in menuconfig. The result was touch not working without this change as a wrong driver was being pick.