In addition to what @Edward has said. It should be noted that the Verdin i.MX8MM has no native CAN controllers, we implement CAN via CAN controllers on the SPI. With the addition of considering SPI in the equation your requirements aren’t very practical.
Furthermore there is a known issue/limitation, when using the SPI CAN controllers at near full load, that a noticeable amount of frames will be dropped: Toradex System/Computer on Modules - Linux BSP Release
Unfortunately there is no good workaround for this at the moment. However as a suggestion perhaps you could try your implementation on the Verdin i.MX8MP, unlike the i.MX8MM this module has a native intergrated CAN controller. Therefore it shouldn’t have nearly as bad frame drops on higher bus loads. Though of course I can’t make any promises since it’s hard to say until you run your exact use-case on the hardware itself, though just a suggestion.
Best Regards,
Jeremias