diff --git a/drivers/can/can_stm32.c b/drivers/can/can_stm32.c
index e1f4c904252..6c12669c9f0 100644
--- a/drivers/can/can_stm32.c
+++ b/drivers/can/can_stm32.c
@@ -481,11 +481,8 @@ static int can_stm32_init(const struct device *dev)
 #if DT_NODE_HAS_STATUS(DT_NODELABEL(can2), okay)
 	master_can->FMR &= ~CAN_FMR_CAN2SB; /* Assign all filters to CAN2 */
 #endif
-
-	/* Set TX priority to chronological order */
-	can->MCR |= CAN_MCR_TXFP;
 	can->MCR &= ~CAN_MCR_TTCM & ~CAN_MCR_ABOM & ~CAN_MCR_AWUM &
-		    ~CAN_MCR_NART & ~CAN_MCR_RFLM;
+		    ~CAN_MCR_NART & ~CAN_MCR_RFLM & ~CAN_MCR_TXFP;
 #ifdef CONFIG_CAN_RX_TIMESTAMP
 	can->MCR |= CAN_MCR_TTCM;
 #endif