That means that the toolhead is not acknowledge the reception of the transmission in time.
You can look around for different topics. But AFAIK, there is no known good solution or a simple root cause.
You can reflash your MCUs, which will add some CAN hardware counters.
They will help a little to see what happens, but probably will do nothing, from the point of fixing the real issue underneath.
Also, it is seems that you have a 4th device that is working as a CAN bridge.
So, it is the one, that can provide information about communication between eveything.
You can try to check the bus wiring, terminal resistors & etc.
You are already running at low CAN speed, as I can see from the logs: CANBUS_FREQUENCY=250000
So, I don’t think there is something, you can do from the software side to workaround that.