iOS 15.6.1 Cant hear phone calls on CarPlay

My husband and I have both recently updated our phones to the newest iOS (15.6.1) and now both of us can no longer hear phone calls while using Apple CarPlay. The person on the other end of the phone call can’t hear us either. Upon termination of the phone call the car head unit also restarts, even while driving. We have tried every suggestion on google, but the only way we have gotten around this problem is to reroute our phone calls to our phone speaker, which is really inconvenient when the phone is connected to headphones. We have a 2016 Hyundai Tucson and connect via a lightening cable. Has anyone else had this problem since the newest iOS update?