The “N” in CAN stands for network, after all. The trick is to create a device ID for each desired CANSerial interface, which is done in his library using the usual Arduino setup step.

If you use the Arduino IDE to program the ESP32, you might be interested in [Andreas Spiess’] latest video (see below). In it, he shows an example of using all three ESP32 UARTs from an Ardui… ...