Have tested STLinkV3 with STM32F407-Discovery Board: same poor effect! CAN boot with XMC4500 was sucessful but MCU is too expensive. Perhaps Aurix might be of interest for you (see attachments).
Try the following using PEAK-USB interface at 125 kBaud & PCAN Viewer:1) Rest MCU while Boot 0 is kept high2) Send nil to Dev-ID 0x79, DLC=03) Send 0x02 to Dev-ID 0, DLC=1You should get the results as shown in attached file ***.txt. Hope ...
Keep in mind the standard baud rate is 125 kbaud. I believe the ST32CubeProgrammer is not really suitable for CAN. At the moment I can only read and delete the memory. The download immediately hangs at the first block. Will try to debug the communica...