I even have only wired CarPlay and haven’t had any of the problems more than once or twice. For connection failures, I had to de-lint the Lightning port (easy to forget when you charge wirelessly) and I’ve forgotten the phone in the car when something interrupted my routine.

the wireless versions bring their own tradeoffs and connection issues. transferring control from one phone to another is not a seamless experience in any vehicle I've been in. automatically connecting to my phone (and locking me out of google maps on the phone) is not desired every single time I turn on my car. I doubt GP would be satisfied with those either. wireless android auto uses a lot of battery, so typically I end up plugging my phone in anyway (although personally, I never end up forgetting the device).

that said, I don't agree that it's a "really bad user experience". it meets or exceeds 95% of my expectations for an infotainment integration, and I trust google to keep it working 5-8 years down the line much more than I trust the software dev team of my car's manufacturer. the only thing that really pisses me off is how google voice assistant uses zero "common sense" when interpreting street addresses and song names. no, I don't want to navigate to a similar street name 1000 miles away. I want to navigate to my parents' house, same as the last 50 times...

What issues are you having with CarPlay? I've had it freeze two or three times, but I think that might have been my phone independently of CarPlay. Other than that the only thing I'd like changed is that my car's head unit was even dumber. I don't it to ask me if I want to display CarPlay. Just automatically do it! It needs to fully embrace that it's just a docking station for phones.