For those wondering,
I disabled CarPlay through the truck settings, forgot the trucks WiFi on my phone, restarted my phone, connected to the truck WiFi, connected to Apple CarPlay, restarted the truck.
I'm not sure if all of that was necessary but the phone now automatically connects to the truck's wifi and apple carplay every time.
I think I may have connected to carplay before setting up my wifi and maybe that was causing the issue from the start, I really don't know though.
Again this is a 2021 Sierra 1500 AT4