with all these problems I will not use the RP2040 in this CAN-BUS-Project.
Maybe if somebody has developped a CAN-engine that makes use of the PIO-feature of the RP2040 so only a CAN-tranceiver like the Adafruit CAN Pal - CAN Bus Transceiver - TJA1051T/3 with inbuild dual-voltage-levels 3V/5V
can be used I try again.
For now I will test the Adafruit CAN Pal - CAN Bus Transceiver - TJA1051T/3
with an ESP32S3 if this works.