I overall enjoy the Apple CarPlay experience in my truck. Granted this is the first vehicle I've owned that had it, so I'm coming from a new user perspective. My truck doesn't have the built in Navigation, so I use CarPlay for those purposes and I like the flexibility of using different map/nav software (Apple, Google, and Waze). The UI is pretty basic, so I can't really complain about its features in regards to using the software. I almost exclusively use Apple Music for listening to music and so I like the split screen view that shows current song and map/navigation.
My only real negative is that it requires me to plug in my phone via USB in order to use it. You'd think wireless CarPlay would be a standard these days, but sadly it isn't and I wasn't willing to fork over the amount of money needed to get that one small feature.
In regards to text notifications and reading them out loud, I don't seem to have those same problems. When I get a text message I get a notification up on the screen where there's the option to select it and Siri reads it out loud for me.