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For me 14.5 did not fix anything. I’m still missing the 1st part of de audio when listening to the car radio and using Apple Map.
I did remove and reconnect the Bluetooth connection and that did not help either.
 
14.5 fixed the HFP-Prompts FINALLY for me and our Ford Focus (SYNC) after Apple fubar‘ed it with iOS14.
 
Running 14.6 and today’s trip had the HFP dropping 1st second of audio. It is not fixed here. Vehicle is Infiniti which worked fine before.
 
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