Same issue here. iPhone 15 Pro - 2022 Mazda CX5. Wireless carplay doesn’t reconnect. Removed device from car and car from bluetooth device list. Repaired and works wirelessly. Turn car off and back on, doesn‘t reconnect. Connect via usb-c cable and carplay connects. Then strangely unplugging usb-c carplay stays connected.
However when car is switched off again, reconnecting doesn’t work. It’s driving me nuts!