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I think BMW did it pretty well right now. My new i4 integrates CarPlay wireless, there is wireless charging, maps appears in dashboard as well as heads-up display and what I really like, the individual iOS apps like music, podcast or whatever runs in CarPlay appear as individual apps in the BMW UI and can be selected directly there. So I think BMW found a good compromise, integrating it without giving up their own UI.
It's very nice that they redesigned the home app, and it really is much better. Now, if only it would work... Automations have gone bust with iOS 16, it really is a big mess, as you can see in many threads in the community. It really shows that this has never been tested properly as it is not a little "once in a while" bug but essentially makes austomations unusable,
If you want to have a truly secure and multivendor home automation system, I can only recommend having a look at KNX. It's an industry standard with about 400 companies supporting it, and it works without any servers or cloud connection. If you would like to add Homekit compatibility, just add a small Thinka device, and you are up and running.