CarPlay erratic connection RX450h 2021

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Anyone have problems with Apple CarPlay occasionally not connecting in their RX450h? I've searched and found no answer, not online, not from our Lexus tech expert and not from Apple.

In terms of recommended solutions that don't solve it: I always have the iPhone on when I connect. I am using a new Apple manufactured USB cable.

Oddly, if I leave the iPhone plugged in, sometimes maybe 15 minutes later, the system reboots, shows the initial caveats screen and THEN CarPlay appears.

We also have a 2019 Toyota Avalon and it has NEVER exhibited this problem (not had a prior Chevy Volt or ES300h). Only this new RX450h has it.