I used this CAN lib, works in Basic CAN mode with SN65HVD230.
Even more due to the pin mux of the ESP32, you can also use different pins, e.g.
#define CAN_SPEED CAN_SPEED_250KBPS
#define CAN_TX GPIO_NUM_17 // TXD2
#define CAN_RX GPIO_NUM_16 // RXD2
Because I used TXD2 and RXD2, I'm currently considering to check also the RS232 MAX based TTL converter and in case it works, maybe I will put only a 4 or 6 pin grove connector into the M5Stack proto board with housing and place the tranceiver into an external plug: one connector would then allow either CAN or Serial :-)