I thought I came across a solution in another thread but have not been able find it.
I'm looking for a wire management solution for when I put my iphone in the holder up close to the dash, the lightning cable plug is on the bottom of the phone so the phone must sit upside down and the USB door cannot close, Is there a solution for this ...is there a wireless solution....?

 

The thread you're looking for is Wireless Apple CarPlay on Lexus ES350 Using Carplay2Air.

Unfortunately, I see you have a 2021 ES with the type of USB port cover that doesn't allow for closing the front cup holder cover when any type of USB connector (even the 90 degree flat ribbon cable types) is connected to one of the USB ports. Except for destructive removal of the 2021 Lexus ES's factory installed USB port cover, I haven't seen any mention of any other workaround to get the front cup holder cover closed when something is plugged into the CarPlay capable USB ports.

 

I haven't done this, but I think the best solution would be to get an after market shop to move the front USB ports to inside the console glove compartment. This modification has been discussed in this forum, but I don't know if anyone has done it.

 

We bought a Apple Lightning cord that is 0.5 meters long (1/2 the standard length) and while
not ideal in appearance I just drop the phone in upside down and plug in the always installed
cord. Practice with a slight twirl to cause the cable to route up and over the radio *****...

 

We did the same thing, but with a 10" lightning cable. They are available in various lengths (non apple cables of course) from 6" to 18" on Amazon. Of course, this only works if you can just put your phone down while driving... We actually keep the regular cable with us as well in case my wife wants to plug in and then she can continue fiddling with her phone.