CAN is a protocol, but the messages on the bus are implementation specific. Yes, you can use it on any CAN bus, but there's no guarantee that you will be able to decode the traffic. Some modern CAN networks are encrypted, too, because it's trivial to view the traffic. https://kentindell.github.io/2021/01/02/can2-wireshark/ has a great guide on decoding traffic with sigrok.