This is changing in CarPlay in iOS 13, as are a fair number of other things (generally for the better; I have a bit of hands-on experience thanks to a brave/foolhardy friend who's already installed the developer beta).
https://www.theverge.com/2019/6/3/18650923/apple-carplay-ios...
Source: I do it
At this point I never use the car interface if there's CarPlay available (I usually rent cars.) The only exception is for changing car settings, which unfortunately is not exposed through in CarPlay it seems.
It always make my day when a rental car has CarPlay. And a little sad when it doesn't. Mostly because cheap rentals rarely have their own sat-nav installed and being able to use the phone on an integrated screen/audio system is really nice.
Otherwise, the Mazda knob works well enough. I think most of the power user complaints could be addressed by better default behavior or customization on what a scroll/click does on certain screens.
Android Auto/CarPlay is easily the most distracting system I've used. The only benefit is if I choose to be distracted while driving, it's less distracting than using my phone. Being distracted while driving is a _choice_ and sadly one that many drivers want to have.
All that said, I try to use voice control whenever possible. But, that's not yet a complete solution, as Apple keeps Siri from accessing non-Apple apps (can't voice control into Pandora or Google Maps).