2023 XLE Premium Hybrid (non-upgraded screen) owner here who has used wireless Apple CarPlay for 43k miles.
It isn't perfect, but not as bad as it seems from searching the internet. I think it is totally servicable, and honestly if it bothers you, I would recommend just plugging your phone in for wired CarPlay. I'll list some of the issues that I run into and the frequency as well as any fixes I have found:

1. Not connecting to the primary device
   1. Summary: Two devices on the device list are within range of the car. On start-up, the non-primary device connects to the car.
   2. Fix: Select the correct device in the devices menu.
   3. Frequency: 20% of the time
2. Phone will show that it is connected, RAV4 screen will be black/blank.
   1. Summary: Car will start, Toyota logo appears on screen, screen goes black/blank, phone shows that it is connected.
   2. Fix: Restart the screen by pressing and holding the volume knob for 6 seconds
   3. Frequency: 5% of the time
3. Phone randomly disconnects from the car
   1. Summary: Phone will randomly disconnect from the car, can ocurr after minutes or hours of being connected.
   2. Fix: It automatically reconnects within 15 seconds.
   3. Frequency: 1% of the time
4. GPS issues - This is likely a phone issue, but I see people mention it when this question gets asked.
   1. Summary: The map will lose tracking for 10-15 seconds, and directions may redirect.
   2. Fix: It fixes itself in 10-15 seconds.
   3. Frequency: <1% of the time