Hi,
There is https://www.nxp.com/docs/en/application-note/AN1798.pdf
Moreover you can use my calculator …. CAN_setup9.xlsx … attached.
The result for oscillator precision is in the cell results-> required oscillator tolerance [%]
Moreover, this require to be oscillator used as a CAN clock (not bus clock generated from PLL)
Some CAN examples you can find attached.
Best regards,
Ladislav