I have been having this same exact issue with my 2020 Range Rover Evoque and my new iPhone 13 Pro.
My iPhone 12 Pro would connect perfectly fine, even after the iOS 15 update, and play my Apple Music without any issues.
With the iPhone 13 Pro, I would plug it into the USB port, CarPlay would display when plugged in but crash as soon as I hit the play button to play music.
I also changed the equalizer (EQ) from “Late Night” to “Off” and it now works!!!!! Thrilled!!