Carplay disconnects on iOS 15.5

After rolling to 16.5 I've encountered with continious and random CarPlay diconnects in Toyota C-HR (2020) with my iPhone 12 Pro. For an example during 15 min drive I have 2-5 disconnects. Reconnection occurs after 2-3 seconds, the music being played pauses, and the route laid through Google maps has to be re-entered. First of all, I replaced the cable with the original one (29 Euro), but this did not help. Also I rebooted the phone, make sure screen time setting doesn't restrict content & privacy on Carplay (it is turned off), make sure Face ID & Passcode settings allow USB accessory access, went into Apple Carplay settings and "forget this car" and then reconnect (now car won't show up), but one of the above works. I`d like to note that when I connected my wife's phone, not yet updated to 16.5 (16.4.1 ) CarPlay has no disconnects so far. Please help to resolve this issue.