I converted your Arduino code to using collin80's ESP32 Can Library ( Arduino_CAN is just pain in the butt to deal with )
Now I can receive data from 500K ( High ) .
Some of the data is not recognized by the GUI.
For Example, 7E8,00,00,04410C0000000000
Above is a Coolant Temp data from ECU, when in Live Situation ( Connected to Vehicle ), the GUI won't recognize it but if I print it out with println it will recognize it without any issue.