According to https://developer.apple.com/download/files/CarPlay-Developer-Guide.pdf , apps with entitlement com.apple.developer.carplay-driving-task are allowed to use voice control.
In my current implementation the voice recording working fine but the voice response (AVPlayer with category "playback set") does not output any audio.
I suspect that it is a entitlement limitation because if I quickly tap to play a music while the voice assistant AVPlayer is "playing", then I can hear the response, but without this trick it stays playing but mute.
In parallel I have now requested com.apple.developer.carplay-voice-based-conversation entitlement , but I don't even know if when approved I will be able to use 2 entitlement for the same CarPlay app.
Long story short:
1 - Should an app be able to play audio responses when it's CarPlay entitlement is com.apple.developer.carplay-driving-task?
2 - If not, can I combine entitlements com.apple.developer.carplay-driving-task and com.apple.developer.carplay-voice-based-conversation?