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                                            Lukáš Stehlík

assert failed: twai_handle_tx_buffer_frame twai.c:183 (p_twai_obj->tx_msg_count >= 0) if CONFIG_TWAI_ERRATA_FIX_TX_INTR_LOST=y (IDFGH-8204)

I have the same problem. My fix is to not use the twai_initiate_recovery() function, but instead of this uninstall, install and start the TWAI driver back. This fix may help...