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If you’re willing to shop on Amazon (I use Amazon only if I have to) they have a wireless CarPlay adapter that work pretty flawlessly I got mine for $100. All the steering wheel control works in my car (2017 Audi A3). There is an audio delay while watching videos but I believe that’s with all wireless CarPlay applications. I’ll link to the exact one I got. However they have one that says “upgrade” for cheaper but I do not have that one so I can’t say if it’s any better.
(TLDR) The adapter linked works just like plugging in regular CarPlay.
(Edit) a few added details
My favorite thing about Adam’s videos is the way they are edited, they leave in some silence so you can see Adam’s head gears working as he’s solving a problem. It sorta feels like we’re solving the problem with him.