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First, CYPD3171-24LQXQ does not belong to CCG3, it is a CCG3PA device. You can look into the order information part of CCG3PA datasheet.
Any version of CCG3PA(CYPD3171,CYPD3174,CYPD3175) do not have I2C bootloader.
However, some version of CCG3(CYPD3122,CYPD3125,CYPD3126) supports I2C bootloader, so they can be updated with I2C.
Are either of the CYPD3122,CYPD3125,CYPD3126 footprint compatible with the CYPD3171-24LQXQ? Or do I need a new layout and schematic?
CCG3 and CCG3PA are two completely different device. If you want to replace CCG3PA with CCG3, you'll need a completely new design.