This happens to me as well, and is definitely geographical in nature. Same places. Since updating to iOS18 it has improved in the regular places it used to happen to the point I don’t always plug in now on my normal commute, but still happened on a road trip over thanksgiving in other places. I had been in the habit of always plugging in and even killing WiFi on my phone to force wired connection, that worked 100% of the time. So it’s a WiFi interference issue. (Remember CarPlay uses Bluetooth to initiate the connection but the actual wireless data link is over WiFi)
I’m pretty sure it’s a truck/sync issue and not just the phone, or at least a combination of the two. Reason being I rented a grand wagoneer for 9 days and connected wirelessly to CarPlay in it every day and never had a hiccup, drove close to 1,000 miles across multiple states. Which is annoying as other than that my confirmation bias that ford does everything better than Stellantis/jeep was confirmed, except for CarPlay.