Must disconnect and reconnect Lightning cable from my vehicle's USB port in order to start charging the iphone

I leave a Lightning cable plugged into my truck's USB port for charging my iPhone. Even though I have the USB accessories restriction turned off on the iPhone, every time I enter my truck and plug the cable into the iPhone's Lightning port, it won't begin charging until I unplug the other end of the cable from the truck's USB port, wait a second or two, and plug it back in. Then the iPhone starts charging. This has happened hundreds of times and is completely repeatable: It happens literally every single time after I disconnect the iPhone from the Lightning cable, such as when I exit the vehicle.