Mttcan: entered error passive state

I want to use can0 and can1 to receive sensor data. Sometimes, after boot TX2, the can0 and can1 work well and receive sensor data correctly. But sometimes, after boot TX2, the TX2 will enter error passive state, and can’t receive any sensor data from CAN0 and CAN1 forever!!. It seems like probability problem, it’s very strange and confusing!!
who know or meet the same problem?
I use the 32.3.1 BSP on the TX2.
The configuration of CAN0 and CAN1 is listed as below:

The error info is list as below:

Can you please try using 32.4 BSP version?
Let me know if you face any issue with this also.