The schematic is:
CANH-CANL waveform is: there is a small jump in the red circle.
What may cause it and how can we solve the problem?
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The small jump in the CANH-CANL waveform appears to be due to a reflection. In order to identify the source of reflection, I'd recommend removing the following components one at a time and measure the waveforms.
You may also refer to the following reference design for TI recommended components to achieve IEC 61000 ESD, EFT and surge using ISO1042 (same side) or TCAN1042.