Many are having this problem, as described, and the inability to interact hands-free with our phones while driving may indeed cause distractions leading to loss of life. Plain and simple, and Apple is aware of the problem QED. Apps like Dragon Anywhere can no longer be launched while driving. That app was relied on for accurate dictation beyond what Siri would allow in a very short blurb before cutting you off and sending a truncated, meaningless text response.
Now, the car screen shows up and Siri says it can't help us with that while we are driving. It will not open Google Maps and other programs without forcing you to pick up the phone and open the app.
This is true when sitting in the driveway and attempting to order from a local restaurant's app.
It won't launch Waze, et al.
This needs to be repaired, ASAP. It is NOT automobile specific, as demonstrated.
To the bright mind who explained here that shortcuts can be used to somewhat circumvent the problem, THANK YOU. It has provided some relief. However, Apple - this should have been repaired in a month of it being reported, and your support staff should have been made aware so that so many of us can understand what is happening and that it is being addressed in an update expected in X days/weeks/months.
Instead, you've sent us all on this fishing expedition, and very likely have caused dangerous and unnecessary interactions with your phones when they are used on the road.