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Something like this might meet your needs:

https://www.csselectronics.com/screen/page/reverse-engineering-can-bus-messages-with-wireshark/language/en

There are a lot of CAN tools here, too:

https://www.peak-system.com/Home.59.0.html?&L=1

Some of the CANbus analyzers have their own analysis software. But nothing wrong with trying to use our favorite packet analysis tool for CAN as well.