This... exactly this! 2020 Toyota RAV 4 Excel AWD (UK variant). Head unit restarts make no difference and then randomly a call will be made/received and it's perfect only to return to the glitchy experience on the next call. This is only DURING a call and makes it impossible to move between apps. Sometime the head unit will restart on it's own without my intervention. Sometimes the "time in call" counter will slowly catch up to the display on the phone (which is always up to date and correct) to the extent that once it has caught up normal functionality is resumed for the rest of the call.