Can I setup CarPlay to use on my iPad?

You can offer Apple feedback about it at: http://apple.com/feedback

No. CarPlay is only available in select automobiles and requires the iPhone 5 or later. Set up CarPlay to use with your iPhone - Apple Support

No. Carplay is only available on iPhones.

You may be able to pair the iPad to your car's media center however, and make use of some normal wireless features, but not the entire suite of Carplay options.

I think it is time to bring CarPlay on iPad really!