Hello, Eduardo,
Usually, CAN devices are disabled by default, although they are on the SoC's dtb. Maybe load an overlay to enabled it should do the trick.
You can check your current dev tree under /proc/device-tree once in Linux. cat'ing should allow you to see what you have loaded.
If you can see there the CAN nodes, you probably can disregard my comment.
BR,
Paulo.
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