same issue pffff
to solve a little bit the issue, I reboot the iPhone and also the CarPlay in my Audi by long pressing power button. Like this AMI reboot and work a little bit more...
keeping Waze open on the phone active also keep Waze running.
This is more stable but not fixing for more time.
Michels12345
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If you want to use Waze on CarPlay to keep Waze open on the phone with the screen unlock