I am very disappointed to report that the iOS 13.4 Beta does NOT fix the problem. If you haven’t already joined the Beta Program, don’t bother with the hassle. In the first half hour of my commute, using the USB-C adapter and the original Apple cord that came with my 11 pro, CarPlay disconnected 7 times. It would just stop playing My iHeart Radio app. If I switched to regular radio, it stopped playing that too. I needed to disconnect and reconnect. Data network was working, my phone was charged to 100%, using original cable, phone reset, CarPlay reset, firmware up to date... At least now I can report this to Apple through the beta, to add to my five previous reports to engineering and to the geeks at the Apple Store. In my opinion, 13.4 has made things worse, at least for me and my 2019 Subaru Crosstrek.