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Yes. There is a sample capture attached to this question - how to display column with doip user data using field name doip.data

This paper has examples with Wireshark: Analysis of Digital Forensics Capabilities on State-of-the-art Vehicles

Yes. There is a sample capture attached to this question - how to display column with doip user data using field name doip.data

This paper has examples with Wireshark: Analysis of Digital Forensics Capabilities on State-of-the-art Vehicles
Their testing was with Wireshark 2.6 and a custom Lua dissector.
UDS was added in Wireshark 2.4.0 and DOIP in Wireshark 3.0.0