The CAN network is based on a half-duplex differential signal. CAN has a single sender with priority arbitration. If two or more nodes attempt to send simultaneously, any nodes transmitting a lower priority ID will stop transmitting during the arbitration phase.
I'm including some materials for learning CAN:
https://www.ti.com/video/6078637405001
https://www.ti.com/lit/an/slla270/slla270.pdf
CAN, LIN, and SBC Training.pptx
Regards,
Sean