Hello @Heejun Noh (Consultant) ,
welcome to this moderated Azure community forum.
I have no recent experience with the Azure Sphere but I remember it supports an SPI bus.
I mention this because I expect the Azure Sphere cannot be connected to canbus directly but by using a bus like this, you can make use of generic can bus module like this MCP2515:
These are cheap and also take away the risk of interfering with the can bus messaging flow (it's not recommended to write message to a vehicle).
Als take into account there are different types of pin sets so pick the right pin set for your solution.
I'm not sure if there are any libraries available but you need to invest to time to learn about the Can bus protocol regarding the message identifiers and related message format.
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