Why are my microcontroller and CAN transceiver failing?
I'm not sure if this is the exact cause in your case but Microchip's errata sheet that can be downloaded here Specifies the following:


Module: CAN
CAN Receive filters 3, 4 and 5 may not work for a
given combination of instruction cycle speed and
CAN bit time quanta.
Work around
Do not use CAN RX filters 3, 4 and 5. Instead, use
filters 0, 1 and 2.
Affected Silicon Revisions



If you are using one of the buggy filters you may want to try one of the alternatives.