It's not CANbus, because CANbus is two signal wires, that are both at about 2.5 V when idle, and one goes up from that and one goes down from that when there are signals.
It could be LIN bus. That is near 12 V when idle, and it goes down from that when there is are signals.
See what your multimeter does when you turn it to AC volts and see what it measures when you connect it to a battery. If it reads zero, you know that your multimeter ignores DC signals when set to AC. If that is the case, measure the AC voltage of the signal. If that reads between 1 and 3 V, it could well be a LIN signal.
If it does look like a LIN signal, you could try buying a LIN transceiver (
https://uk.rs-online.com/web/p/can-interface-ics/7154542) and wiring that up to the Arduino. You might be able to write some code to analyse and simulate the sensor. It's quite a stretch without an oscilloscope.