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I was running into issues where the driver would be stopped (due to accumulation of TX errors) and the watchdog wouldn't recover the driver.
To fix this I added a more robust recovery process where it uninstalls and reinstalls the driver. This is optional and can be enabled with CAN0.setForceRecovery(true, 1000);
I had to tweak the watchdog function a little and also temporarily increase the stack size of the recovery task to be safe. I also added a function that prints the current state of the bus as well as error counts.