diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
index f61228750..bd8da8709 100644
--- a/esp-hal/CHANGELOG.md
+++ b/esp-hal/CHANGELOG.md
@@ -39,6 +39,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - Fix conflict between `RtcClock::get_xtal_freq` and `Rtc::disable_rom_message_printing` (#2360)
 - Fixed an issue where interrupts enabled before `esp_hal::init` were disabled. This issue caused the executor created by `#[esp_hal_embassy::main]` to behave incorrectly in multi-core applications. (#2377)
+- Fixed `TWAI::transmit_async`: bus-off state is not reached when CANH and CANL are shorted. (#2421)
 
 ### Removed
 
diff --git a/esp-hal/src/twai/mod.rs b/esp-hal/src/twai/mod.rs
index eaed7d142..7d4c148f7 100644
--- a/esp-hal/src/twai/mod.rs
+++ b/esp-hal/src/twai/mod.rs
@@ -1943,6 +1943,22 @@ mod asynch {
         }
 
         if intr_status.bits() & 0b11111100 > 0 {
+            let err_capture = register_block.err_code_cap().read();
+            let status = register_block.status().read();
+
+            // Read error code direction (transmitting or receiving)
+            cfg_if::cfg_if! {
+                if #[cfg(any(esp32, esp32c3, esp32s2, esp32s3))] {
+                    let ecc_direction = err_capture.ecc_direction().bit_is_set();
+                } else {
+                    let ecc_direction = err_capture.err_capture_code_direction().bit_is_set();
+                }
+            }
+            // If the error comes from Tx and Tx request is pending
+            if !ecc_direction && !status.tx_buf_st().bit_is_set() {
+                // Cancel a pending transmission request
+                register_block.cmd().write(|w| w.abort_tx().set_bit());
+            }
             async_state.err_waker.wake();
         }