ThreadX SMP has been already ported to Cortex A53. The port is available here:
https://github.com/azure-rtos/threadx/tree/master/ports_smp/cortex_a5x_smp
we recommend you use the port we provide.
In case you want to assign threads to cores you can use the available API to achieve that. It is documented here:
https://learn.microsoft.com/en-us/azure/rtos/threadx/overview-threadx#multicore-support-amp--smp