I think if you are starting out or have a newish project you should go all in on the new CMake capabilities. That will make your project very easy to migrate between IDEs and CMake support is only going to make things better long term.

More importantly that lets you use CLion. Hint hint.

Both ends of the CAN must be terminated using a 120 ohm resistor (or 180 ohm maybe, sometimes). I don't think that would cause the Tx to be stuck high but who knows. Also read the datasheet of the transceiver. Make sure its not in sleep mode. I use CAN alot on the ESP32s but never have I used the in...