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That should fix the issue. Works flawlessly with my iPhone SE. (Remember that you need to have Siri enabled/active to be able to use Car Play.)...there seems to be a checkbox "always connect" when first connecting the phone ....at least according to this guide
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How to Connect Apple CarPlay Honda Without USB: The Complete Guide
Tired of fumbling with cables every time you get in your Honda? You're probably wondering if there's a cleaner way to get CarPlay running without plugging anything in. Good news — there is, and itcartipsdaily.com
the guide is not explicit for Prelude, but the infotainment ist the same (old) as for Civic XI
but can't test - no apple device here ....