Using the ESP32 and the Can driver by Thomas Barth i have a little problem

Sometimes my ESP32 states that the CAN bus is off
When i try to esp_restart() and initialise the Can Driver again it says everything is alright but the ESP32 is not connected on my CAN-Bus

i can't write any frames or read ...

The Can Controller for the ESP32 works great,
Only when i want to send a couple of messages to CAN, it gives me a Warning and eventually BUS OFF when i do it with multiple nodes on the CAN BUs
When i only have 1 other node i communicate nothing is wrong.

And when i get in BUS-OFF i restart the CAn ...