pub fn new_no_transceiver(
        peripheral: impl Instance + 'd,
        rx_pin: impl PeripheralInput<'d>,
        tx_pin: impl PeripheralOutput<'d>,
        baud_rate: BaudRate,
        mode: TwaiMode,
    ) -> Self {
        Self::new_internal(peripheral.degrade(), rx_pin, tx_pin, baud_rate, true, mode)
    }
Create a new instance of [TwaiConfiguration] meant to connect two ESP32s
directly

You don't need a transceiver by following the description in the
`twai.rs` example
esp-hal/src/twai/mod.rs