It exist a project that simply add a CAN Tranceiver to a special ESP32 dev Board – called CAN32. This uses the CAN on ESP32 and provide a Wifi based CAN Interface. I have a few CAN breakout Boards and Nextion displays so I want to assemble one of these. The main drawbacks With this is (1) I am unsure about the quality of CAN on ESP32, and (2) it don’t uses a galvanic isolation.
Galvanic isolation complicate things a bit. You don’t really need it for Wifi usage, but you seriously should have it if you connect the USB to your PC With industrial equipment on the other side.