Yes. Since iOS 15.0 (still with 15.4 Beta 4) wireless CarPlay crashes often. Most, when i start from home after 60-90 seconds. When i start from other locations (workplace, 25 km from home) wireless CarPlay runs better, but not perfect.
I use wireless CarPlay with CPLAY2Air Adapter.
Wired CarPlay runs perfect.
Tweak
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Maybe in Beta 2?
The exposure notification API ist not included in iOS 14 Beta 1