It seems it's possible to use USB0 full-speed peripheral in device mode with only internal oscillator (without an external crystal).
However Errata says there's a problem with clock adjustment when the device is connected to the host through multiple bus. The work-around is:
Use the FRO calibration library provided in TN00032. This library allows the application to
have a crystal-less USB device operation in full-speed mode.
I tried to search for Technical Note TN00032, but I couldn't. Where is it?