CAN-Bus support on BeagleY-AI ?

I am looking for a simple CAN-Bus Interface in BeagleY-AI. Schematics show both AM67A CAN0 and CAN1 interfaces were physically connected to HDMI and CSI peripherals (refer to MCU_GPIO0_13…16 and MCU_GPIO1_24…25).
Seems a pin multiplex of CAN to expansion header is not possible ?

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