I practically always use it wirelessly, because it's just so convenient to place it in the phone compartment, and not have to deal with the charging cable hanging around.

I generally don't have any issues with charging, so phone either stays at the same battery level, or charges a bit (depending on how long I drive).

The only downside is that phone heats up due to the usage of CarPlay as well as due to the wireless charging, which triggers heavy throttling of iOS, and I assume this is not ideal for the phone/battery as well.