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Please, people who have this problem, please report it to Apple so they can solve it as soon as possible. I'm in contact with Apple's technical support right now.
 
For me I disabled Wireless CarPlay. A lot of stuff not working with Apple at the moment (so sad).
 
In my case, I have to disable CarPlay completely, wired and wireless. ¿You can use wired CarPlay without this problem?
Yes. First I disconnected my phone from carplay and deleted it within car-setup.

After that I started again and dismissed the message from iOS to use wireless carplay. With 'wired' carplay everything is fine.
 
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I have found a pattern for this. It is a WIRELESS CarPlay issue only. Wired CarPlay is just fine from what I've experienced. Yes, CarPlay needs WiFi to work, but it establishes a bluetooth connection to the radio to let it know it's there. I have a 2020 Tundra with a 10.1 DMX1057XR unit in my truck which has wireless CarPlay, and my wife has a 2019 Honda Pilot with wired CarPlay only. I was able to break hers when I plugged into my truck, but was unable to break mine plugging it into her vehicle. I do not use Wireless CarPlay in my truck, but the fact it has wifi in the radio, is what causes the issue. I disabled Bluetooth on my unit, and it no longer breaks my connection. I am able to receive calls on my watch after leaving CarPlay. I'm not a huge fan of wireless anything, so using it wired works great for me. I hope this helps others.
 
For me, I deleted the phone from the car.

After reconnecting it asks to use wireless AirPlay again, what I denied - and now I can use 'wired' CarPlay without any issues.
Not nice, but a workaround.
 
I thought most cars that can use wireless (BMW) can't use a wired connection? At least on my BMW there is no wired connection anymore.
 
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I’m having this issue as well.

My car only has wireless CarPlay - wired is not an option.

Oddly, my S0 Apple Watch on 4.X.X had no issue like this. However my new apple watch on the newest iOS & watch OS do have this issue.

It seems to me like it could be a watchOS issue.
 
Mac or ipad will also not ring.
So its iphone which doesn’t send the calls over

I know my iPad and MacBook Pro are both ringing, personally. It’s just my new Apple Watch that fails to ring. My S0, again, rang every time.
 
I know my iPad and MacBook Pro are both ringing, personally. It’s just my new Apple Watch that fails to ring. My S0, again, rang every time.
Hmm, in my case (mac book pro on big sur) it doesn’t ring like watch, until iphone is restarted.
I don't have ipad, so here rely on post of others who said so.
 
Workaround until a fix is released:
Turn Apple Watch wifi off.

doesn’t help me. Maybe, because my watch is gps only, though wifi icon dims.
Accorfing to apple:

https://support.apple.com/en-us/HT204562

Only Apple Watch GPS + Cellular models can disconnect from Wi-Fi networks. After you disconnect, your Apple Watch won't automatically re-join the Wi-Fi network that you disconnected from until:

  • You turn on Wi-Fi in Control Center.
  • You walk or drive to a new location.
  • It's 5:00 a.m. local time.
  • You restart your device.
 
Tried iOS 14.4 RC, and it seems to be fixed. I have to try a little bit more.

EDIT: Bug still existing with 14.4 RC. Shame!
 
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