3 months should be enough to get efficient in the basics, like flashing, breakpointing, and reading back code+variables. I.e, basic debugging.
You should check with the manufacturer of your hardware (or just the CPU if it's all custom) if they have Lauterbach (or other) scripts for working with their hardware. A lot of them do.
This would cut down on the time it would take for you to configure the Lauterbach to be able to even connect to your target.
The scripts I had for connecting to the Qualcomm chips were a few hundred lines of Lauterbach-script. I think the minimum you could get that down to is about 10 lines. Setting types of interfaces, specifying the JTAG chain, speeds, cpu-cores and variants, resetting, etc.