I got everything working with TWAI on the XIAO ESP32C3, which should be identical on the S3, given all ESP32’s have TWAI support without the “XIAO CAN Bus Expansion Board”. You just need a transceiver. I even got the dual masks and filters working after much pain. I can share my code if you tell me what you are looking for exactly. I can also give you the schematic of the PCB we built.