Connectivity issues between Toyota and Apple

I have a 2019 Toyota Highlander. I have been having connectivity issues with my Apple Iphone 11 and now the Iphone 13. Toyota did a detailed evaluation of the radio, and had no issues on their end. When I start the vehicle, the radio will reboot at least 4-5 times and calls will freeze up.

Has anyone else had this problem and come up with a solution? I keep my Iphone updated and my Toyota software updated.

Thanks!