The serial-discovery tool is a command line program that interacts via stdio. It accepts commands as plain ASCII strings terminated with LF \n and sends response as JSON. Install a recent golang ...

ESP32 driver library for TWAI / CAN for Arduino using ESP-IDF drivers. I reccomend using TI SN65HVD230 transreceiver (or similair) as hardware. Tested on ESP32 and ESP32-S3.