A Controller Area Network, CAN, device, (400) is described that includes: a CAN transmitter (430) connected to two CAN bus terminals (401, 402) of the CAN device (400); a receiver circuit (450) operably coupled to the two CAN bus terminals (401, 402) of the CAN device (400); and a controller (432) connected to the CAN transmitter (430). The controller (432) is configured to: determine whether the CAN device (400) is operating as a transmitter node or a receiver node; detect a transition of the CAN device (400) from a dominant state to a recessive state; and in response to detecting both a transition of the CAN device (400) from the dominant state to the recessive state, and the determination of whether the CAN device (400) is operating as a transmitter node or a receiver node, control an output impedance of the CAN transmitter (430) to be within an impedance value range whilst a differential driver voltage on a CAN bus (104, 304, 404) connected to the CAN device (400) decreases to a predefined voltage.