I’ve used the cplay2air with minimal issues on three different cars over the past three years at this point. Most common issue I experience is every once in a while the audio gets some kind of interference and will play at a lower quality but I think this is related to my garage opener frequency since it only happens when I get home and not enough for it to bother me.

If your car has wired carplay. You can choose carlinkit 4.0. It supports both wireless carplay and wireless Android auto.

(U2W Plus) Carlinkit 3.0/ 4.0 Wireless Apple CarPlay/ Android Auto Ada - Carlinkit Carplay Store

Update:

Tested CarlinKit 4.0：

Works great as long as it's not using the latest/experimental firmware. I was at 2022.07.29.1635 which I recommend. The newest one had some display glitches on CarPlay and some voice assistant issues on AndroidAuto.
5/6 user input methods supported (only fast-forward with the steering wheel is not working).

Pros:
Fast boot up (had to set the boot delay to 6 seconds, to make sure that my Discover Media is ready before the adapter is ready),
Supports GPS pass-though, which I highly value in those adapters,
Supports AndroidAuto on Android phones.

Cons (just minor ones):
hate to device color,
USB-C port is deep and not all 3rd party cables will be able to reach the port.

How is the lag using this version? For example, watching a video does the audio sync up with the video. Or, if making a call, is there lag on either end?