Everything points to this being an Apple software issue. While some have found success jiggling the cord, removing an app, turning some system thingy on or off, etc., others clearly have found no solutions despite attempting the suggested solutions. I hope folks continue posting their solutions in the event they are helpful to someone else, but chances are there is no universal solution until Apple directly addresses it. IMO this is akin to all the reported bugs after any software/hardware release -- some have better battery life, some have worse, some phones crash, some claim it's the best update ever. So I can understand a transient glitch with CarPlay despite the inconvenience to me. What I can't understand is Apple allowing this to fester for 2-3 years now.
I deleted Google Maps yesterday, and so far so good (insert conspiracy theory here), but I'm certainly not holding my breath...