To add to above... I've also had issues if there is a second phone plugged into the armrest console USB. Not sure if it is current draw or something else, but my girlfriend likes to charge her phone there when we are on trips, while I use Car-Play. And she is the one that pointed out the pattern, whenever I had no Car-play ICON or it was froze, was usually due to that, except a few times with bad cable compatibility. When the 2nd phone is unplugged, it all usually worked ok.
All that to say, double check that it isn't a 2nd device plugged in that is interfering. Cheers.