Right now, yes. But wireless CarPlay systems will be coming out soon. And even on short trips, your phone will still connect via Bluetooth for music if you want it to. But my phone is always plugged in while in the car anyway, so for me it wasn't any change to my workflow.
Wireless CarPlay has been out for almost 4 years. BMW offers it now and Alpine will soon.
The downside is that it does drain the battery big time.
I've been looking at going that route but the battery drain is big. Seems silly to go wireless if it means you'll need to plug the phone in to charge anyways. If Apple goes with wireless charging in the next iPhone, this may remedy the issue as it'll be able to charge and connect to CarPlay wirelessly.