No, I have the SK-S7G2 board. I am using the default configuration: CAN0 through pins P402 and P403.
Taking a look at the diagrams these signals are directly connected to J7 CON6 without any switch.
It seems that the CAN driver: g_can.p_api->open (g_can.p_ctrl, g_can.p_cfg) cannot open the peripheral.