It's a good question. The hardware manual references the xSYS2 connector and says that you can use an xTAG3 with an adapter, but, as you say, the connector is missing from the board shown on the web site. I don't know which is right.
In the image check J21 bottom right. That's a TAG-connect header, but again I'm not sure if this is intended for using the on-board debugger with other boards, or if it's intended for use with an external debugger.