My wifes 94 wagon would throw a can communication code semi regular , I would erase the code , after a while it seemed like I had a low performing battery , as soon as the battery was replaced no more can codes its been
about 2 years and never see that code, im guesing when it sat overnight and you started it the starter was drawing most of the power and then the code would appear, it happens on newer Mercedes too, test your battery