CarPlay "keypad access is limited"

This is a limitation imposed by the auto maker; they can decide which features to allow access to while the car is in motion and more than one manufacturer has for safety reasons decided to limit keypad access; the idea is they want you to use voice dialing or dial from a contact if you must place a new call while in motion.

This limitation is not inherent to CarPlay, each automaker/head end developer decides whether to impose this limit on the device.

Of note BMW (2017+), Ford (2017+), Jeep (2018+), Kia (2018+), Lincoln (2017+), and Subaru (2018+) do this as well, and most of them also limit the keyboard the same way on Android Auto.

For example, on a 2020 BMW X3:

Hi iSmn85,

It sounds like you are having issues placing calls from your iPhone when using CarPlay. If we have that correct, check out this resource for placing calls.

Make phone calls with CarPlay

This will show you the available options.

Take care.

It very well could be a restriction the 2021 vehicle radio has in place...a lot of the times the dealership may not be that aware of changes in the radio to that degree...especially for fairly newer releases. Perhaps search for user forums for your vehicle to see if this is a discussion that has come up to get some clarity. If that is the case Apple wouldn't be able to do anything about it as it is tied to the firmware for your radio. Unless they release a firmware update to change that then it's a safety feature they have opted to keep.