Article does talk about possible solution down the road for iPhone users as well...
https://www.cnet.com/roadshow/news/waze-for-android-auto-navigates-into-car-cabins/?ftag=CAD-04-10aae9d&bhid=20400089006381150254844894340027
https://www.cnet.com/roadshow/news/waze-for-android-auto-navigates-into-car-cabins/?ftag=CAD-04-10aae9d&bhid=20400089006381150254844894340027