Although the car supports CarPlay, it is not a given that it supports Wireless CarPlay. Since your car is from 2019, I could well suspect it of not having Wireless CarPlay. You must either ask where you bought the car, or read the car's manual. If your car does not support Wireless
CarPlay, then you must connect with a lightning to USB or USB-C cable. If your car has Wireless CarPlay, make sure to keep the car parked, with your gear in park, or the handbrake on when you pair your iPhone for the first time.
You can read how to set up CarPlay here:
Use CarPlay with your iPhone - Apple Support