Detect click in CarPlay with UIKit?

I'm developing a CarPlay navigation app, and some of my UI is built with UIKit. I can display the UI well and it works, but I can't detect clicks or user interaction. CPButtons work, but those aren't customizable to my knowledge. How can I detect clicks or user interaction with my UIKit elements in CarPlay? Or, create custom views from the CP elements?
Please see page 30 of the CarPlay App Programming Guide (https://developer.apple.com/carplay/documentation/CarPlay-App-Programming-Guide.pdf ), under 'Base View':

The base view must be used exclusively to draw a map, and may not be used to draw alerts, overlays, or other UI elements. All UI elements that appear on the screen, including the navigation bar and map buttons, must be implemented using the provided templates. Your app won’t receive direct tap or drag events in the base view.

Detect click in CarPlay with UIKit?
 
 
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