Apple CarPlay with iPhone 12mini lags in a Peugeot.

Apple CarPlay lags about 30 seconds while using Waze. I have read that this issue is happening with multiple car manufacturers, wired and wireless. This narrows the issue down to the iPhone. Has anyone been able to find a fix yet? I have missed several turns because I was already past the turn before the app catches up. Also, when I receive a phone call I see it on the phone and hit decline (because I’m driving) then about 30 seconds later the call pops up on the CarPlay screen. It is unusable. Apple has always been able to have quick fixes for their customers.