Hi,
This specific situation seems to be a particular one. NXP does provide some examples on how the CAN messages are received and sent, we could recommend looking into them to see how they could help your specific situation.
As for if there are some steps, we do not have a common recipe for this. We could recommend a simple concatenating of the messages and once the message has the correct length you expect, put it in the respective buffer for transmission. But again, we do not have any implementation that does this exact situation. We do apologize.
Please, let us know if this information was helpful or not.
