Have you tried doing an encrypted backup to iTunes or Finder, do a Recovery Mode Update. This won’t touch your user data. See if you experience the crashes.Constant crashes. CarPlay crashed ever 3-6 mins. I’d have to disconnect and reconnect the phone each time.
Tried all the fixes online and with Apple Support. Same experience across multiple vehicles, all of which had Factory/OEM support and were officially supported by Apple.
If that does not work try a Recovery Mode Restore. Don’t restore from backup, setup your phone as a new device and don’t install anything, leave it clean. Try CarPay with a clean new device. After you are done, do a Erase All Contents, restore from encrypted backup. If it does not happen as a setup as a new device but if it does happen after you restore your backup, your problem is with your backup.
I know it sounds crazy to do something like this but it could help. I was having an issue with marking text in Safari and a Recovery Mode Restore resolved the issue.
If you can't update or restore your iPhone or iPod touch - Apple Support
You can put your iOS device in recovery mode, then restore it using your computer.