Hi,
there is direct "IEEE1722 demo app" demo example for this board available from its web page. But it was designed in S32DS3.4 and RTD2.0.0. You can simple refer to it. Most probably this will need to be ported, if you want to use latest S32DS, not sure of the RTD version you have. There was some successful port to S32DS3.5 and RTD300; https://community.nxp.com/t5/S32K/Porting-MR-CANHUBK344-IEEE1722-to-work-with-newer-S32DS-3-5-and/td...
Simple CAN demo for FlexCAN0 is posted on https://community.nxp.com/t5/S32K-Knowledge-Base/RTD600-MCAL-amp-IP-S32K3X4EVB-T172-FlexCAN-Example-...
This should work on MR-CANHUBK344 as well, only check/modify the pin used for CAN0 EN/STB_N pins.
BR, Petr