I will share my version of UAVCAN for Teensy 4.0 with the community.
https://github.com/astekachev/UAVCAN_T4

I will also publish here correspondence with the developer who helped me to port the product to Teensy 4.0
https://forum.uavcan.org/t/uavcan-for-teensy-4-0/1556



Good luck with your projects.