diff --git a/drivers/can/can_common.c b/drivers/can/can_common.c
index 57bc6b9f52e..d106d13dabb 100644
--- a/drivers/can/can_common.c
+++ b/drivers/can/can_common.c
@@ -11,6 +11,9 @@
 
 LOG_MODULE_REGISTER(can_common, CONFIG_CAN_LOG_LEVEL);
 
+/* Maximum acceptable deviation in sample point location (permille) */
+#define SAMPLE_POINT_MARGIN 50
+
 /* CAN sync segment is always one time quantum */
 #define CAN_SYNC_SEG 1
 
@@ -180,6 +183,30 @@ int can_calc_prescaler(const struct device *dev, struct can_timing *timing,
 	return core_clock % (ts * timing->prescaler);
 }
 
+/**
+ * @brief Get the sample point location for a given bitrate
+ *
+ * @param  bitrate The bitrate in bits/second.
+ * @return The sample point in permille.
+ */
+uint16_t sample_point_for_bitrate(uint32_t bitrate)
+{
+	uint16_t sample_pnt;
+
+	if (bitrate > 800000) {
+		/* 75.0% */
+		sample_pnt = 750;
+	} else if (bitrate > 500000) {
+		/* 80.0% */
+		sample_pnt = 800;
+	} else {
+		/* 87.5% */
+		sample_pnt = 875;
+	}
+
+	return sample_pnt;
+}
+
 int can_set_bitrate(const struct device *dev, uint32_t bitrate, uint32_t bitrate_data)
 {
 	struct can_timing timing;
@@ -187,6 +214,7 @@ int can_set_bitrate(const struct device *dev, uint32_t bitrate, uint32_t bitrate
 	struct can_timing timing_data;
 #endif /* CONFIG_CAN_FD_MODE */
 	uint32_t max_bitrate;
+	uint16_t sample_pnt;
 	int ret;
 
 	ret = can_get_max_bitrate(dev, &max_bitrate);
@@ -201,11 +229,16 @@ int can_set_bitrate(const struct device *dev, uint32_t bitrate, uint32_t bitrate
 		return -ENOTSUP;
 	}
 
-	ret = can_calc_timing(dev, &timing, bitrate, 875);
+	sample_pnt = sample_point_for_bitrate(bitrate);
+	ret = can_calc_timing(dev, &timing, bitrate, sample_pnt);
 	if (ret < 0) {
 		return -EINVAL;
 	}
 
+	if (ret > SAMPLE_POINT_MARGIN) {
+		return -EINVAL;
+	}
+
 	timing.sjw = CAN_SJW_NO_CHANGE;
 
 #ifdef CONFIG_CAN_FD_MODE
@@ -213,11 +246,16 @@ int can_set_bitrate(const struct device *dev, uint32_t bitrate, uint32_t bitrate
 		return -ENOTSUP;
 	}
 
-	ret = can_calc_timing_data(dev, &timing_data, bitrate_data, 875);
+	sample_pnt = sample_point_for_bitrate(bitrate_data);
+	ret = can_calc_timing_data(dev, &timing_data, bitrate_data, sample_pnt);
 	if (ret < 0) {
 		return -EINVAL;
 	}
 
+	if (ret > SAMPLE_POINT_MARGIN) {
+		return -EINVAL;
+	}
+
 	timing_data.sjw = CAN_SJW_NO_CHANGE;
 
 	return can_set_timing(dev, &timing, &timing_data);
diff --git a/include/zephyr/drivers/can.h b/include/zephyr/drivers/can.h
index d116ee75939..f9ebb841435 100644
--- a/include/zephyr/drivers/can.h
+++ b/include/zephyr/drivers/can.h
@@ -845,7 +845,14 @@ static inline int z_impl_can_set_mode(const struct device *dev, enum can_mode mo
 /**
  * @brief Set the bitrate of the CAN controller
  *
- * The sample point is set to the CiA DS 301 recommended value of 87.5%.
+ * CAN in Automation (CiA) 301 v4.2.0 recommends a sample point location of
+ * 87.5% percent for all bitrates. However, some CAN controllers have
+ * difficulties meeting this for higher bitrates.
+ *
+ * This function defaults to using a sample point of 75.0% for bitrates over 800
+ * kbit/s, 80.0% for bitrates over 500 kbit/s, and 87.5% for all other
+ * bitrates. This is in line with the sample point locations used by the Linux
+ * kernel.
  *
  * @note The parameter ``bitrate_data`` is only relevant for CAN-FD. If the
  * controller does not support CAN-FD or if @kconfig{CONFIG_CAN_FD_MODE} is not
@@ -857,7 +864,7 @@ static inline int z_impl_can_set_mode(const struct device *dev, enum can_mode mo
  *
  * @retval 0 If successful.
  * @retval -ENOTSUP bitrate not supported by CAN controller/transceiver combination
- * @retval -EINVAL bitrate cannot be met.
+ * @retval -EINVAL bitrate/sample point cannot be met.
  * @retval -EIO General input/output error, failed to set bitrate.
  */
 int can_set_bitrate(const struct device *dev, uint32_t bitrate, uint32_t bitrate_data);