Hi,
TDC is not necessarily needed for lower rates (<3-4Mbits). But if enabled, must be properly set.
TDC is needed for higher rates when transceiver loop delay becomes bigger then CAN bit time so CAN module is not able to detect properly transmitted bits. So in order to compensate for this loop delay when checking for bit errors, a Secondary Sample-Point (SSP) is defined and instead at the Sample-Point, the transmitted bits are checked at the SSP.
More description and the formula is given in chapter 72.3.10.3 Transceiver delay compensation of the S32K3 RM.
BR, Petr
