Hi,
within a S32 Design Studio you can find several CAN examples. You can refer to
non-SDK examples called FlexCAN_s32k144 and FlexCAN_FD_s32k144 and
SDK based called flexcan_encrypted_s32k144 and can_pal_s32k144.
Also you can refer to examples posted here in community
https://community.nxp.com/docs/DOC-335250
https://community.nxp.com/docs/DOC-343091
BR, Petr