I can confirm that no fixes mentioned in this thread worked for me. This includes starting fresh with “set up as new iPhone” on two different iPhone 11 Pro Max - which rules out any signing in or out of iCloud or settings resets, 5 different Apple original lightning cables - old and new, and the USB-C cable that came with the phone and a USB-A to USB-C adapter. iOS 13.1.2 helped the problem, it doesn’t occur as often, but its still happening 50% of the time. Hoping for a fix from Apple soon...
iPhone 11 Pro Max, 2017 Chevy Volt, CarPlay takes 15-90 seconds to initialize if at all and requires unplugging and plugging back in several times to get it to work. Stays connected once working.