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Also no autoplay problem in my BMW (ID7) when connecting to CarPlay.
When starting the car it remembers I was using the BMW interface or CarPlay, but also with CarPlay up it still remembers if I was using FM for audio or CarPlay. When I was using e.g. the Podcast app in CarPlay, it remembers and continues what was playing (idem for the Music app if that was the last audio source), i.e. it doesn't default to the Music app.

What does happen sometimes is that when I'm listening to FM and I get a message in CarPlay (which pops up over the FM interface) and tap it to play it, then it stays in CarPlay. When not interacting with the incoming message, of course it just continues playing FM. It seems that when I interact with CarPlay (by tapping the message notification), it decides I want to stay in CarPlay?
 
I made a video for bug report:
For some reason dock can't hold an app icon of my navigation app of choice. It always shows Apple Maps icon, no matter if I use Apple Maps or not. I should be able to switch between 2Gis and Music app, like I did before on iOS 14. To switch between my maps (2Gis) and Music I have to go to all apps menu. It requires more steps when dock can't hold my maps icon.
 
I made a video for bug report:
For some reason dock can't hold an app icon of my navigation app of choice. It always shows Apple Maps icon, no matter if I use Apple Maps or not. I should be able to switch between 2Gis and Music app, like I did before on iOS 14. To switch between my maps (2Gis) and Music I have to go to all apps menu. It requires more steps when dock can't hold my maps icon.

I believe that is an app developer issue, not an Apple/CarPlay one. You should let them know as well.
 
I have issues when on a phone call with iOS 15. If I receive any notification from a CarPlay sat nav app while on a call then the call transfers back to the iPhone earpiece with no option to return it to CarPlay. The call screen does remain on the car head unit.
 
You have a CarPlay head unit that does that? Thats insane. Autoplay is a relic of the MFi head unit days. The iPod/iPone would connect and hand off its controls to the head unit (so pressing play on the head unit plays the iPod). Autoplay was default function back then and since the head unit was telling the iPod/iPhone to 'play' there wasn't much Apple could do to prevent it. Back in the iPod days it kind of made sense because why else would you be plugging in a dedicated music player. It carried over to the iPhone tho...

I remember buy a Pioneer head unit back in 2014-15 specially because it had an autoplay toggle in the settings.

My current Chevrolet CarPlay unit does not autoplay.

Look for an autoplay setting in the head unit might get lucky. I didn't think this was a function of CarPlay, are you also sync'd to the "not CarPlay" part of the head unit? For me I can just plug in and go straight to CarPlay and the default radio is ignored for the most part. Since my Chevy's CarPlay is wired I'm not connected to its bluetooth at all.
I am using a Honda CRV and it’s HU supports wired CarPlay. There is no Auto Play setting in the HU. The funny thing is I have also had the same experience when I drove a Nissan Altama, Chevy Impala, all MY 2019 or newer. My CRV is a MY 2018. Even on my 13 Pro Max I can see iOS 15 has loaded a music track on Now Playing in Control Center. It’s nuts honestly.
 
Also no autoplay problem in my BMW (ID7) when connecting to CarPlay.
When starting the car it remembers I was using the BMW interface or CarPlay, but also with CarPlay up it still remembers if I was using FM for audio or CarPlay. When I was using e.g. the Podcast app in CarPlay, it remembers and continues what was playing (idem for the Music app if that was the last audio source), i.e. it doesn't default to the Music app.

What does happen sometimes is that when I'm listening to FM and I get a message in CarPlay (which pops up over the FM interface) and tap it to play it, then it stays in CarPlay. When not interacting with the incoming message, of course it just continues playing FM. It seems that when I interact with CarPlay (by tapping the message notification), it decides I want to stay in CarPlay?
Same here on my new BMW G30
 
I am using a Honda CRV and it’s HU supports wired CarPlay. There is no Auto Play setting in the HU. The funny thing is I have also had the same experience when I drove a Nissan Altama, Chevy Impala, all MY 2019 or newer. My CRV is a MY 2018. Even on my 13 Pro Max I can see iOS 15 has loaded a music track on Now Playing in Control Center. It’s nuts honestly.
UPDATE: I think I found what is causing the issue for me where when I connect to CarPlay, my iPhone 13 Pro Max would automatically start playing a song. I was also having another issue where multiple times a day, I would find a song listed in Now Playing in control panel. Apple suggested that I delete the music app and reinstall it. And that has seemed to fix both issues I was having. Just thought I would let others know that are having a similar issue to what I was having.
 
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