The HPG solution can be easily fitted to the CAN bus of a vehicle to support the DR function of the ZED-F9R.
The GPIO4 and GPIO5 of the NINA-W106 can be used to connect a CAN transceiver such as a SN65HVD230. There a simple breakout board that you can attach using jumper wires such as the CJMCU-230
An example implementation of a CAN test is part of this project CANBUS.h but the CAN protocol and messages are propritary for every vehicle and brand. The community around Comma.ai has a published a project that contains CAN definition definition files. You can go to their project on github to get some information of different vehicles and brands.