Hi Yuanyuan,
First off, please keep in mind that VIO min is 2.8V and VCC min 4.5V.
As for the power-up sequence, there is no difference if VCC starts early or VIO does.
Basically, TJA1051/3 is suitable to application that VCC and VIO start same time as indicated in the figure below.

But, it can also be used in the case VCC and VIO start in different timing.
If one of VCC or VIO was in under-voltage, the TJA1051/3 is in OFF mode and just wait for the under-voltage release.
Best regards,
Tomas