BIP32 is listed as Non-Approved Security Functions (see page 29 in 1). I could not find any problem with the primitives used in BIP32.
HMAC-SHA512: This is a FIPS-approved algorithm (see page 25 in 1).
secp256k1:
This curve is allowed to be used for blockchain-related applications (see page 12 in 2).
Moreover, SLIP10, which is the generalization of BIP32, is on the Non-FIPS Approved list even though it supports the NIST P-256 curve (See 3 and SLIP10)