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Yes it can be done. You need to have two instances of the tools running and each debugs one of the cores. Please follow the PSoC Creator help topic "Creating uVision Projects for PSoC 6" in Help > PSoC Creator Help Topics.
Also, you need to take care of some of the settings to make sure they work correctly which is explained in the following video: Application Note 318: Multi-Core Debugging with MDK
You can use Ulink2 or JLink which are the supported debuggers for PSoC6 in Keil uVision.
Can you clarify the procedure for having 2 uVision instances running and how they can both attach to the same Ulink2 or JLink?
Are 2 debuggers needed, or just 1?
You will just need one debugger. The procedure is mentioned in the video link I provided in the previous interaction.