I prefer to use TI ISO67xx (1.65V to 5.5V, 50 Mbits/s) or ISO77xx (2.25V to 5.5V, 100 Mbits/s) isolators, especially
ISO6721 and
ISO7721 having one channel in each direction. The datasheets (linked, PDFs) are rather clear in my opinion, as a hobbyist myself.
Each side requires their own isolated supply, referenced to the signals on that side, defining the voltage levels on that side. Each side also has their own ground, to which the supply and signals are referenced to.
You need to add a 0.1µF = 100nF X7R/C0G/NP0 capacitor between each supply and ground, but that's it. CAN is explicitly mentioned as one use case. Mouser sells these for under 1€ apiece in lots of 100 or more, so they're not that expensive either.
The two last digits specify the number of channels and the number of channels in the 2-to-1 direction. Add a Q suffix for automotive versions.