I'm not so sure I agree with you there.
I drive a 7 year old French car without even CarPlay and just a BT receiver and the whole in car entertainment system works better than anyone I know with CarPlay or a Tesla, the first 10 minutes of every car journey which appear to turn into debugging sessions. For me, BT is absolutely entirely flawless.
I just get in it and with no interaction on my part at all whatsoever, can just drive off and say "hey siri, shuffle my music" and sorted. Works every time, no futzing at all of any sort. Navigation works, it reads messages to me, I reply to messages with voice, the media/radio stalk works with it, calls work fine. I get in the car and drive off and the call transfers from my airpods to the car. I get out and it transfers to voice flawlessly.
Edit: Oh and at no point does the car get spooked by something it sees like a friend of mine's Telsa which keeps slamming the brakes on when it rains...