Hi Marcio,
You can find the latest version of the datasheet in the following link: https://www.nxp.com/docs/en/data-sheet/TJA1050.pdf
As you can see in the characteristic table on page 6 of the datasheet, TXD and RXD pins are referenced to VCC voltage, so I don’t think that the TJA1050 can be used for 3.3V application.
I recommend you to switch to a different CAN transceiver with equipped with a dedicated VIO pin, NXP CAN transceivers can interface directly to microcontrollers with supply voltages of 3.3 V and 5 V if equipped with this pin.
TJA1051T/3 seems to be a good option for you. Pin VIO on the TJA1051T/3 and TJA1051TK/3 should be connected to the microcontroller supply voltage (see Figure 6 of datasheet). This will adjust the signal levels of pins TXD, RXD and S to the I/O levels of the microcontroller
TJA1051 datasheet: https://www.nxp.com/docs/en/data-sheet/TJA1051.pdf
Regards,
Jose
NXP Semiconductors