Once you have Apple CarPlay configured and working (generally), do this every time you start the car:
Unlock with your profile linked fob or the phone (so it knows which driver profile to load).
Get in.
Brake and Start.
Put on your seatbelt.
Wait for the idiot screen message on the Multimedia display, acknowledge it.
Wait a few more seconds for the message to go away and the phone to connect via CarPlay and the message to display that the profile has been loaded for “Driver Name”.
Only now brake and shift to drive or reverse.
I have excellent CarPlay results by simply waiting the extra 15 seconds or so before I put it in ”gear”.
Good luck.
(I’m a Solterra owner, but this part is the same for the bZ4X and probably the new RZ 450e also).