diff --git a/esp32s3/balance/main/vesc_can.c b/esp32s3/balance/main/vesc_can.c
index 290993a..2de13df 100644
--- a/esp32s3/balance/main/vesc_can.c
+++ b/esp32s3/balance/main/vesc_can.c
@@ -39,17 +39,22 @@ void vesc_can_init(void)
     twai_timing_config_t  tcfg = TWAI_TIMING_CONFIG_500KBITS();
     twai_filter_config_t  fcfg = TWAI_FILTER_CONFIG_ACCEPT_ALL();
 
-    ESP_LOGI(TAG, "TWAI: twai_driver_install tx=%d rx=%d 500kbps", VESC_CAN_TX_GPIO, VESC_CAN_RX_GPIO);
+    gcfg.tx_queue_len = 5;
+
+    ESP_LOGI(TAG, "TWAI: installing driver tx=%d rx=%d 500kbps", VESC_CAN_TX_GPIO, VESC_CAN_RX_GPIO);
     ESP_ERROR_CHECK(twai_driver_install(&gcfg, &tcfg, &fcfg));
     ESP_LOGI(TAG, "TWAI: driver installed OK");
 
-    ESP_LOGI(TAG, "TWAI: twai_start");
     ESP_ERROR_CHECK(twai_start());
+    /* Wait for VESC to join the bus before drive_task begins TX — prevents
+     * immediate TEC runup and BUS_OFF if VESC CAN isn't ready at ESP32 boot. */
+    vTaskDelay(pdMS_TO_TICKS(200));
     ESP_LOGI(TAG, "TWAI: started OK — bus active");
 }
 
 void vesc_can_send_rpm(uint8_t vesc_id, int32_t erpm)
 {
+    if (g_twai_bus_off) { return; }
     uint32_t ext_id = ((uint32_t)VESC_PKT_SET_RPM << 8u) | vesc_id;
     twai_message_t msg = {
         .extd            = 1,
@@ -81,11 +86,28 @@ void vesc_can_rx_task(void *arg)
             }
             twai_status_info_t si;
             if (twai_get_status_info(&si) == ESP_OK) {
-                g_twai_bus_off = (si.state == TWAI_STATE_BUS_OFF);
-                if (g_twai_bus_off) {
-                    ESP_LOGE(TAG, "TWAI BUS OFF — tx_err=%lu rx_err=%lu",
+                /* Mark bus-off for ANY non-running state so vesc_can_send_rpm
+                 * won't flood with failed transmits during recovery. */
+                g_twai_bus_off = (si.state != TWAI_STATE_RUNNING);
+
+                if (si.state == TWAI_STATE_BUS_OFF) {
+                    ESP_LOGE(TAG, "TWAI BUS OFF tx_err=%lu rx_err=%lu — recovering",
                              (unsigned long)si.tx_error_counter, (unsigned long)si.rx_error_counter);
+                    twai_initiate_recovery();
+                    /* Driver auto-transitions RECOVERING→STOPPED after 128 recessive
+                     * bit occurrences (~3 ms min at 500kbps); 100 ms is safe headroom. */
+                    vTaskDelay(pdMS_TO_TICKS(100));
+                } else if (si.state == TWAI_STATE_STOPPED) {
+                    /* Recovery completed — restart the driver. */
+                    esp_err_t serr = twai_start();
+                    if (serr == ESP_OK) {
+                        g_twai_bus_off = false;
+                        ESP_LOGI(TAG, "TWAI recovered — bus active");
+                    } else {
+                        ESP_LOGE(TAG, "TWAI restart failed 0x%x", serr);
+                    }
                 }
+                /* TWAI_STATE_RECOVERING: initiation already called, just wait. */
             }
             continue;
         }