If you have a MSP432P device and is looking for "bit banging" examples, you should be looking at the "Register Level" examples, typically located under the Simplelink => Examples => Development Tools => <board> => Register Level.
These examples are not available for the MSP432E devices, though (don't ask me why).
The "SimpleLink Academy" starts from a much higher level that involves the libraries and the RTOS (either the FreeRTOS or their own TI-RTOS), which will require much more reading about the basics of threads and APIs (if you don't have this knowledge already). The "Overview" document contains a guided tour with labs and links to gobs of documents that cover it all - I found easy to go through the labs just to see things working, but to fully comprehend most aspects it took me quite a lot of reading (and I am not near the end).
As a general statement, the RTOS approach is absolutely mandatory if you need any sort of protocol stack (Ethernet, USB, Wi-Fi, etc.) and there is not escaping to it - that's probably the rationale they used to steer people to start. Also, the way the RTOS is designed it will forcefully require the use of "drivers" - although you can probably create your own but will need to at least interface with the API the RTOS expects.
On the hardware side, the TI devices were never too easy to navigate (who developed with their DSPs knows what I am talking about), although in the last few years they bundled all device information into what they call "Techincal Reference Manual" - a lot easier in my opinion (before it was split in many smaller documents).