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I am pretty sure that it is possible to do that, at least for Sigma, but I haven't seen any documentation that covered this. I think there is only some reference that different encryption keys can be stored in the CPU and you can use these keys to decrypt selfmade xload binaries. but the ucodes are special xloads with additional restrictions.
therefore even if you could change the encryption key... it would not help at all, because all xrpc ucodes need to be signed by Sigma