I'm looking for a way to send messages from one Raspberry Pi via PiCan2 to another and receive back to read CRC and ACK bits. I searched the documentation but couldn't find such an option, could I have missed something?
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You do not deal directly with CRC and ACK, but you can be notified when such events happen. All relevant info can be found in Linux SocketCAN documentation.
If you want implementation details, at this link you can find my hlcanerrdump tool which can parse and show all errors on CAN bus, and hlcanerrsim tool for simulating all kinds of CAN bus errors. Study the source code and you will understand how to achieve what you want.