Development tools for Zephyr on STM32Workbench for Zephyr: VS Code extension to set up, build, flash and debug Zephyr applications on STM32.Devicetree manager: browse, edit and visualize Zephyr devicetree, STM32CubeMX-like for Zephyr.
If you have a USB in the project it will not give the freedom to chose any clock since the USB need excatly 48MHz
But I do not know about CAN + SDIO
I use USB+Ethernet and I could get it at "168Mhz"