It seems you’ve verified loopback test for CAN so that the pinnux and the device tree configurations should be fine.
I’m not clear about your custom python script.
As your connections look good to me, could you also check if adding sjw 4 as following can help for your case to communicate with your motor?
Jetson AGX Orin Dev kit CAN not working - #7 by KevinFFF
You can also get a scope to measure if there’s the signal when you send the data from Orin Nano to your motor.