Custom Firmware for Nano 33 IoT NINA Module

Dear All,

Is it possible to upload custom firmware onto the NINA module of the Nano 33 IoT?
More specifically, I want to program both MCUs (SAMD and NINA) and have them run their own specific programs in parallel (with respect to eachother).
For example, NINA runs a server and handles network related messaging and status updates;
the SAMD reads and controls peripherals (LEDs, buttons, displays, etc.).
For certain events the two MCUs communicate over a (bi-)directional link.

If this is possible, how can I upload the custom firmware onto the NINA?

Thank you in advance for the replies.

I haven't actually tried this myself, but there is some good information about it in this thread:
https://forum.arduino.cc/?topic=654631
Make sure to read through it because it evolves over the course of the discussion (I believe Juraj provided some nice input).

you can flash NINA over the SAMD with SerialNINAPassthrough.ino sketch of WifiNINA library

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