Setting up a USB-only CarPlay connection

My car is a Jaguar running Pivi-Pro 4.3.1 and I am using an iPhone 15 Pro running IOS 26.0.1.

I have had the car since January 2023. I always have CarPlay running and usually Apple Maps. Until about 6-9 months ago, I was able to connect my iPhone over USB-C only. If my wife connected her iPhone to the other USB socket, the Jag asked whether it should let her phone take over the CarPlay. Whether we stuck with CarPlay from my phone or switched to hers, it worked fine and both phones could stay plugged in and charging.

At some point as the car was going through a stream of Pivi updates, plugging the second phone in would briefly show the dialogue ("switch to new iPhone?"), then that would vanish and the connection to my phone would break. In fact, the CarPlay handling software in Pivi would also seem to break, because neither phone could be used for CarPlay until we setup the connections from scratch again.

Since that time, it seems impossible to establish a USB-only CarPlay connection between Pivi and either phone. The car and/or phone insist on setting up wireless CarPlay. This works flawlessly unless I plug the phone in because I want to keep it charged. Then, after some time, the Maps screen will freeze. When I unplug the USB, the maps spring to life and the connection continues happily over bluetooth.

So I'm stuck using wireless CarPlay; I can't put my phone on charge during the journey and we can't switch from one phone to the other for navigation.

I appreciate that this describes quite a few related but different issues. However, as a start, my main question is: Can anyone tell me how I can set up a USB-only CarPlay connection between the car and my iPhone?

Many thanks for reading this far!