The STM32MP157 is a highly integrated multi-market system-on-chip designed to enable secure and space constraint applications within the Internet of Things. Avenger96 board features dual Arm Cortex-A7 cores and an Arm Cortex-M4 core. In addition, an extensive set of interfaces and connectivity peripherals are included to interface to cameras, touch-screen displays an MMC/SD cards. It also fully supports wireless communication, including WLAN and BLE.
Quick question - does it have CAN1 Bus (or both CAN1 and CAN2) exposed to any connector on the board?
Both RX/TX for both FDCAN1 and FDCAN2 come out via the 40 pin low speed connector. Thus CAN is exposed but you will require an external transceiver.