CarPlay won't reconnect without a power-off (2024 Prime)

When I start my Prius my iPhone 11 Pro Max connects via CarPlay pretty much without any issues. But if I move out of range and then return to the car, nothing I do will make it reconnect, short of powering down the car and restarting.

E.g., I'll go out to my car in the driveway and start it, then realize I forgot something and retrieve it from the house. Or I'll stop at a store and leave the radio on for my passenger while I run in.

Either way, my phone and the car don't see each other. The two don't automatically connect, and if I go to the cars Settings menu and select Bluetooth, there's a button to Connect to my phone, but pressing it does absolutely nothing. No errors, just nothing.

But if I turn the car off and back on, it connects just fine. Anyone experiencing something like this?