Hi Todel,
I have the 65 plate A4 with wired car play and also had this issue since I bought it in 2022. I haven’t found an exact fix but I managed to improve it, occasionally it won’t work but id say it connects 95% of the time now.
1. When you get into the car the first thing you should do is plug in your phone before starting the car or ignition. Wait 5-10 seconds and you should see the Apple car play screen light up on your phone, go ahead and turn on the car and it should be sound. The longer you leave it to plug in your phone after getting in or evening just opening the doors the less chance of it connecting first time, that’s what I found anyway.
let’s say I need maps and it won’t connect and don’t have time to mess around, I go into my settings, delete my car as connection in car play and replug in again and it connects first time.
2. try clearing out your charger port on your phone, honestly I had so much dust and crap in there that although the phone would charge it was messing with the Apple car play as it had too much wiggle and wouldn’t connect properly.