CAN Issue in Xavier Nx

Hi,
I want to use can0 of one Nx Xavier to send/recieve data from another Nx. Sometimes, after boot, the can0 work well and send/receive sensor data correctly. But sometimes, after boot , the NX will enter error passive state, and can’t receive any data from CAN0 !!. It seems like probability problem.
Can you help me to bebug this problem.

I use the 32.4.4 BSP on the Xavier Nx.
The configuration of CAN0 is listed as below:

sudo su
modprobe can
modprobe can-raw
modprobe mttcan
ip link set can0 up type can bitrate 500000

#to send message from first Nx
cansend can0 123#abcdabcd

#receive message in second Nx 
candump can0

Please check if below thread can help:
Some suggestions on troubleshooting CAN interface - Jetson & Embedded Systems / Jetson AGX Xavier - NVIDIA Developer Forums
CAN Transceivers on Jetson AGX Xavier - Jetson & Embedded Systems / Jetson AGX Xavier - NVIDIA Developer Forums

I have tried above threads, still I am facing same issue.

I have doubt on pinmux configuration of can. Can you help me in pinmux Configuration of can0 of Xavier NX(32.4.4 BSP).