You need a car with a CarPlay capable head unit. Then you either connect the phone to the HU via cable or wireless.

If your vehicle has CarPlay capabilities then you should be able to see it on the apps pages or home screen in your CarPlay display. Make sure your head unit is CarPlay capable though otherwise you might just be connected to the audio on the portion.

You should file feedback for Apple to look into this issue using this https://developer.apple.com/bug-reporting/ send it to CarPlay

Please read the guideline here on how to create a CarPlay App https://developer.apple.com/carplay/documentation/CarPlay-App-Programming-Guide.pdf

Are you a head unit developer or app developer?

CarPlay apps aren’t given more than 1 app entitlement. You either get a Maps entitlement or Audio, not both. If you are requesting both to be able to give audible instructions you don’t need the audio template. The audio template is more for playable media.