Hi auth-root,
Please refer to the following thread for this issue.
Can bitrate error 0.2% - #4 by shgarg
Controller Area Network (CAN) — Jetson Linux Developer Guide documentation (nvidia.com)
1. Configure parent clock for CAN
# echo pll_c > /sys/kernel/debug/bpmp/debug/clk/can1/parent
# cat /sys/kernel/debug/bpmp/debug/clk/can1/parent
# cat /sys/kernel/debug/bpmp/debug/clk/can1/rate
2. Reload mttcan driver
# rmmod mttcan
# modprobe mttcan
3. setup can0 again to verify
$ sudo ip link set can0 type can bitrate 500000