I just came across this when Googling for documentation on the Nano’s CAN capabilities (apparently none - minor disappointment but no big deal).
As an FYI, the Canable USB to CAN adapter is $30 USD ($60 for the galvanically isolated version) and when flashed with the candlelight firmware appears to be plug-and-play with the Jetson - no need to mess with dtb’s or wiring to the GPIO pins.
(I’m running custom firmware on my canable that fixes endian cleanliness issues, but the Jetson is little endian just like x86 so should work fine with stock firmware.)