AM62A7: MCU domain can't access cpsw address during the eth trcv initial

Part Number: AM62A7

When we were porting the Ethernet demo in MCU domain:

we found that when Eth trcv called the initialization function(EthTrcv_Init), the register address of cpsw (0x08000F80) would run away after accessing it, and checked the manual and found that it was in the Main domain instead of the Mcu domain.

we have two questions :

Is it because of the different domains make the address can't be accessed?
If yes, is there any way we can initialize the registers of main domain in Mcu domain?