I have been running this adaptor for the last 6 months...
https://carplay2air.com/
It works well...not perfect but it’s great. 99% of the time it connects on its own, call quality, Siri and everything else CarPlay related works as if it was plugged in.
the times is doesn’t connect it’s because the phone is locked into a previous WiFi ssid. All you need to do is select the adaptors WiFi and Bluetooth (it uses both) or unplug and replug in the adaptor. Adaptor has hardware updated as well, company answers support its all good and was worth the money, IMO.
Supposedly there’s another adaptor on amazon not sure about it but looks similar.
Looks like it connects reasonably fast. How long do you estimate from the time you turn on the truck?
Would surely need to get a charging pad working then. Wouldn’t always need charging, but many times you do.