Hello Nilesh
What exactly do you mean with “We want to remove modules from casing”? Are you buying the modules on a DWM1001-dev breakout board?
I would suggest connecting the SWD interface to a programming header. This header can be populated for prototyping and left unpopulated for production. A bed of nails can be used to program the firmware in production.
A common approach is to use something like a tag-connect footprint on the PCB. This allows to connect a programmer without having to populate a connector on the board and it’s easy to make compatible with a bed of nails.
We have looked into some options to release a product that allows to program the modules, but we haven’t found a reliable and cost-effective solution. Some customers came up with their own solution, see this forum post: DWM1001 TDoA tags Programming board.