How do I set up my car play on a Kia
How do I set up my CarPlay
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If your Car model supports Car Play, just plug in your iPhone to the USB port or use the CarPlay button for wireless CarPlay if supported. No setup required.
Follow the steps in the support document you posted from. It explains exactly what you need to do.
If your car does not support CarPlay, then there is no way to set it up.