Preferred or common connectors for CAN bus on the PCB?
A commonly-used connector is M12 (IEC 61076-2-101). Example, CR2033 (not to be confused with the battery CR2032):



For this device there are both male and female connectors so many devices can be chained using standard cables.

Note that it ought to be M12 with five wires as the standard is to use pin 5 (the center pin) for CAN_L (many sensor cables only use 4 wires):

Pin#   Signal
------------------
 1     
 2     Vcc
 3     CAN_GND
 4     CAN_H
 5     CAN_L


Alternatively, use a non-standard wiring scheme (with the associated risk).