CAN0 controller pinmux registers are 0x0c303018 (CAN0_DIN) and 0x0c303010 (CAN0_DOUT)
00 and 08 are for CAN1, I don’t remember why I suggested in above topic, I may have made mistake. But Please follow these details.
And by default, all configurations are set so you don’t need to enable/configure any settings explicitly.
Secondly, bitrate 500Kbps is not exactly set on NX due to CAN parent clock not being PLLAON. That’s why you are seeing ERRORS during transaction.
If you want to set pllaon, please check :
Controller Area Network (CAN) on Xavier NX at 1Mbps - #17 by shgarg