How to disable headphone volume warning?

iPhone automatically turns volume up all the way whenever it is connected to Bluetooth devices. I listen to my iPhone (11) in my vehicle through Bluetooth all the time - but the volume from the speakers in the vehicle is controlled through the radio. The warning “Bong” is always much louder than whatever I am listening to. It can even be startling which is not safe when you’re driving. If Apple is looking for liability issues to worry about - that sounds like something they should concern themselves with.