H2: enable TWAI, enable delay test

[bugadani]

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Submission Checklist 📝

• I have updated existing examples or added new ones (if applicable).
• I have used cargo xtask fmt-packages command to ensure that all changed code is formatted correctly.
• My changes were added to the CHANGELOG.md in the proper section.
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Pull Request Details 📖

Description

Noticed some missing bits, added them.

Testing

Ran the HIL test locally.

[jessebraham]

Thanks!