This repository contains reverse engeneered information about a can-filter-device which you can purchase at various sources. Its usually being used for shady things, however it can be repurposed for doing legitemate development for your car.
Can1 is assigned to PA11 & PA12 (default in STMCubeMX) Can2 is assigned to PB05 & PB06 (not default configuration)
PCB : 5cm x 3cm
Height: ca 1.5cm with Debug Headers attached.
Can be found in this repository.