I'm getting Apple CarPlay errors...

I've only had the car a few days, and have no prior experience with Apple CarPlay, or Android Auto for that matter. The first couple of times I plugged my phone in, everything seemed to work great. But the last couple of days I am getting the error shown below. I've tried turning the car off and back on. Unplugging and replugging my phone to the USB cable. Nothing seems to fix it. Bluetooth is working fine in the meantime though.

Although this error message shows up, I am able to play audio via CarPlay, and even the album image shows up, as you can sort of see in the image below. But no audio controls are present, meaning I have to use the phone to play and pause.

Any ideas?