I have experienced the stuttering as well. For me, it sounds like the Bluetooth connected device is getting to the point of dropping the connection due to becoming out of range. This happens on all of my Bluetooth headphones, and Airpods. More so when i lock the phone screen, or if i have an incoming text message, or phone call.
When listening to audio from any audio related app in my Honda through Apple Carplay, I get what sounds like a cd skip, the screen goes blank, turns back on and the music continues. I have verified that the the cars infotainment unit is not rebooting, because when listening to Sirius XM the music is fine, until Waze provides a voice prompt that also sounds like a cd skip, and the music in the background are perfectly fine.