Can this discussion be reverted back to "unsolved"? It clearly isn't. Or maybe a new thread is necessary?
The issue persists as it has since iOS 13.5. "Do Not Disturb While Driving" is stuck on when you are connected to your vehicle, even when it is set to off. I'm fine if people want to enable this setting themselves, but it should not be forced upon everyone. It actually results in added distraction because simple commands now require intervention (and frustration!) from the user, whereas previously they could be executed without needing to touch or look at your phone. This is dangerous - full stop.
Aside from the obvious dangers this creates while driving, it is also frustrating that your device is crippled when NOT driving. Using voice commands while parked, or as a passenger if your phone is connected is also impossible now.
Shortcuts are not the answer either. Sure, I can set up a shortcut to open some apps, but Siri is (was!) so much more useful while driving. "Hey Siri - open Waze." Easy, with a shortcut. But "Hey Siri - navigate to (this exact place) using Waze" gets you Siri's voice reaffirming how useless she has become. So - I have to look at and touch my phone to do this simple task. Completely unnecessary and unacceptable. It is even worse for sending messages or asking countless simple tasks.
This issue is NOT solved. Shortcuts can get you a tiny bit of functionality back, but barely. "Do no disturb while driving" is stuck ON and it shouldn't be. Please fix this ASAP, Apple.