can-prog
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Any hints on compatible adapters?
What brands/types/etc of USB adapters are known to work? Any Amazon or eBay URLs?
marcinbor85's library is written in Python3 and supports Linux SocketCAN.
There is a huge number of private and or opensource devices with userspace and/or kernel drivers for SocketCAN.
Consider https://canable.io/ which is open source, based on STM32 hardware and works in Linux with SocketCAN.