I've just been doing research on this. There is a lot of information on this here: CarPlay adapter to convert to wireless CarPlay?
Actually, I don't mind plugging in each time in my car, till forget to remove the phone last time, we're 200 meters away and found left it in my car.
Finally I got a Smart box. The wireless adapter works well with my 19' ES.
I am happy with my purchase. This is really convenient, no more cord mess, god this really fascinated me.
Here's the one. https://carplaysmartbox.com/products/wireless-carplay-adapter-factory-lexus-es-lc-ls-nx-rc-ux-rx-hybrid-is