This is a rather late reply but I thought I'd toss in a few comments. We own 2 Ford vehicles both with CarPlay working seamlessly. Here's how I achieved it.
The first car is a 2016. I bought from a Ford dealer on eBay the module to swap the USB HUB in this Fiesta. The hub is located deep in a narrow center console and very hard to access due to the confined space. And certain trim pullers are needed. I called a local dealer and had it installed for the cost of 1 hr labor. The tech then downloaded to the car's onboard eprom or whatever it is called the update from Ford to enable CarPlay. He then plugged in his own iPhone and verified the installation.
The second car car is a 2017 Edge which came with CarPlay. All I needed to do was enable CarPlay one time on my phone. It is important to connect your iPhone via lightening cable before starting the vehicle. It takes a few minutes the first time. I opted to use only the apps that Apple has on the CarPlay plus Audible and Pandora.
I can plug connect my iPhone into either car, start the car and CarPlay opens on the touch screen. I do not use Bluetooth in either car since that requires adding the phone to the Ford system which is independent of the phone. This really has an impact if there are three iphones on and in the car. They will all connect via Bluetooth and then mess up your hands free talking! I can drive either car without changing a thing on the phone or on the car settings.
Here is probably the most important thing to do - make sure you remove all old sync profiles on your phone. My car had been synced to a salesman's phone during a test drive and it took me a while to figure out what was wrong. So with phone out of car delete old sync profiles.