Hi Guza,
If we understand correctly, you're trying to connect an iPhone to CarPlay using the USB cable, and the iPhone was previously denied access to the vehicle. The good news is that this is a setting that can be changed. When you have a chance, try opening the Settings app on the affected iPhone, and then tap on General > CarPlay > Forget This Car. When you reconnect the iPhone to the vehicle, you should be prompted to set up CarPlay again. The resource below has more details.
If you need help with CarPlay
Please let us know if this resolves the issue.
Take care!