@luki743 LilyGO T-Display S3, easy;
T-Embed not so much.
The T-Embed repository is here:
https://github.com/Xinyuan-LilyGO/T-Embed
You only need one GPIO and gnd if the sn65hvd230 is powered by the other device.
CAN takes a single digital output (GPIO) from the ESP and converts it to "differential" + signal, - signal.
The "Grove" connector maybe configured as CAN and maybe a few spare GPIO on that unpopulated development pad on the lower left of the image.

-Terry