I’m experiencing this issue as well, which seems to be related to the initial Bluetooth connection.
Here is a workaround that consistently works for me:
Go to Settings > General > CarPlay on your phone and toggle your car off.
Turn on your car and wait for the infotainment system to fully boot up.
Toggle your car back on in your phone's CarPlay settings.
Manually trigger the connection from your car's dashboard.
If your car is already running, simply toggle the car off in your phone's CarPlay settings, try connecting from the car's dashboard, toggle the car back on in your settings, and then attempt to connect again.
I’ve had this same issue in years past. It has often gotten fixed in the first few os updates