Apple CarPlay disconnects

I bought a Mazda 2 which supports Apple Carplay. The problem is that the apple carplay randomly disconnects while i am driving, and after it disconnects, it shows a message in the mazda interface that says “Apple Carplay has failed”. Sometimes when this happens, it connects back to the Apple Carplay by itself; but other times, when it does not connect back, i can not connect back my device or any other to the car play until i restart the car (even if i forget the device, it will not work)

has anyone else had this kind of problem? Any ideas how to fix it?