Have a look at this SDK it might help
https://redpark.com/developer-tools/
Edit: you could also try to decode and use the CarPlay simulator that apple provides and get it running on a rpi because I am guessing there is some way for it to conect to your phone with out any complications but I don’t know how to get it working
that is the download link for it
https://download.developer.apple.com/Developer_Tools/Additional_Tools_for_Xcode_15_Release_Candidate/Additional_Tools_for_Xcode_15_Release_Candidate.dmg
Have a look at this SDK it might help
https://redpark.com/developer-tools/
Edit: you could also try to decode and use the CarPlay simulator that apple provides and get it running on a rpi because I am guessing there is some way for it to conect to your phone with out any complications but I don’t know how to get it working
that is the download link for it
https://download.developer.apple.com/Developer_Tools/Additional_Tools_for_Xcode_15_Release_Candidate/Additional_Tools_for_Xcode_15_Release_Candidate.dmg