I was having the same issue with my Toyota Sienna - iPhone 16 Pro was not connecting with CarPlay. The problem I found was due to a cheap USB cable (Type-A to Type-C) - this caused the CarPlay connection to flop, making it unusable. I swapped it for a higher quality cable (same Type-A to Type-C) and now the phone connects with CarPlay and stays connected. Its clear to me now that the quality of USB cable matters more with Type-C than it did with the older Lightning connector. It also may help to ensure your Toyota audio and navigation firmware versions are current - see https://www.toyota.com/firmware-updates - You can check the version installed in your vehicle, under Menu (the faceplate button) > Setup > Software Update. The website also provides clear instructions how to download and perform the software update using a USB flash drive (a dealer can do this for you, but I was quoted over $200 at Toyota Service, I opted to learn and do it myself.) My current configuration: iPhone 16
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Community
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Apple Developers