I can’t spot anything suspicious in the log.
There is some system load spike, but if you can reproduce it, it is better to look at it with htop.
WebGraph tool is a little broken, for some reason it shows a little too high values for bandwidth.
This is from the klipper’s graphstats.py
Also, you can monitor can bandwidth with nload, I hope it would be pretty neat.
According to this thread CANBUS Missed scheduling of next digital out event - #23 by koconnor, the minimal stable kernel version for CAN is 6.6
From a brief look, you have pretty old Debian, so I can suggest updating the system.
In my personal opinion, it may not be worth it to test and debug, if there is information that something is broken on kernel level with CAN.
So, I suggest upgrading the system, or kernel at least, or reflashing with something fresh.
Hope it helps.