Hi @Chandrakant,
You can refer to the AN5413: S32K1xx Series Cookbook – Application Note. Section 2.9 and 2.10 have some example routines for configuring FlexCAN.
You can also refer to the RTD examples, just keep in mind that the examples in the newest packages are configured for "loopback" operation, meaning the transceiver is not used. You must configure the pins for communication and change the operation to "normal/user mode".
There is a list of HOWTOs: S32DS - list of HOWTOs - NXP Community, explaining how to install and import examples from the newer SW.
Best regards,
Julián