Updating to iOS 18.4.1 should fix the CarPlay issue

[4RunnerStan]

I know many people have complained about CarPlay not connecting/disconnecting from their car. Apple released a patch yesterday that should fix it, you just need to go update your phone.

I don't yet have my 4Runner so I don't know if this fixes it (it should, I don't know why it wouldn't) but if you're having issues, take the 10 minutes to update and you should be good to go.