Hello Ccarn9,
Thank you for using the Apple Support Communities. Being able to answer calls is a critical function of CarPlay, and we'll be happy to see how we can help. For confirmation, you see an incoming call notification but there's a delay before it rings, and there seems to be a similar delay in audio if you answer prior to the ring. Is that right?
It sounds like this has recently started happening. Have you observed similar issues with incoming calls outside of using CarPlay?
If the issue is only happening with CarPlay, we have a few steps that might help: If you need help with CarPlay
"Make sure that your iPhone has the latest version of iOS. If your iPhone is updated to the latest version of iOS, follow these steps — checking CarPlay after each step:
- Check your connection to your CarPlay stereo:
- If you have a wired connection, try connecting again with a different USB cable to a different USB port if you have one.
- If you have a wireless connection, make sure that Wi-Fi and Bluetooth are enabled under Settings > Wi-Fi and Settings > Bluetooth.
- If CarPlay doesn't activate automatically, look for the CarPlay logo on your car's display.
- Restart your iPhone and your car.
- Make sure that Siri is on.
- If your iPhone isn't detected by CarPlay, make sure that CarPlay isn't restricted. Go to Settings > Screen Time > Content & Privacy Restrictions, tap Allowed Apps and make sure that CarPlay is enabled.
- Go to Settings > General > CarPlay, tap your car, then tap Forget This Car. Then set up CarPlay again.
- Make sure that your CarPlay stereo is using the latest firmware from the car manufacturer. Check your car's manual for more information."
Give those steps a try and let us know the result.
Have a good job.