Can you talk about bit stuffing and why it typically happens after 5th bit?

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"During data transmission, bit stuffing is the insertion of non-information bits into data. Since CAN uses a non-return-to-zero protocol, bit stuffing typically occurs after the fifth bit. The purpose of bit stuffing is to provide a terminus for the signal so the receiver can resynchronize with the transmitter before clock discrepancies between the nodes occur. In CAN, the transmitter transmits a maximum of five consecutive bits with the same value. After five bits with the same value of either zero or one, the transmitter inserts a stuff bit with the opposite state to resynchronize to the transmitter's clock."