This repo is referenced from one of my youtube vids: https://youtu.be/c_iQgfNlFz8
This repo has two platformio with an stm32g431 board (CANFD) sending can messages to an esp32 board (Can2.0)
Thankyou to Erwin74 for providing code sample for canfd https://community.simplefoc.com/t/can-bus-support/407/11