A termination resistor in CAN ( .. or other differential pair communication like RS485 ) is necessary to absorb reflection. The value is related to wire length, electrical frequency, baud rate. It does not seem to be related the number of devices.
However, I heard some rumor in my workforce that termination is not needed if only 2 devices are connected. Well, in my experience, it doesn't work occasionally but I'm confused whether was a my mistake.
Do I really need termination resistors on canCAN if only two devices are connected?