Hello @vishnusf
X-CUBE-53L0A1 package can be configured and imported manually in STM32CubeMX.
This software package contains several ready-to-use examples running on some specific ST development boards which allows quick and easy implementation of your project.
So, you can unzip manually the downloaded X-CUBE-53L0A1 package and open the ready-to-use projects (ioc file) for NUCLEO-F401RE.

To add manually (From local or URL) the X-CUBE-53L0A1 package in CubeMX, you can use "Manage Software Packs" feature. For more details on how to use this feature, please refer to the "3.4.5 Installing embedded software packs" section in this UM1718.

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