My wife has a 2021 NX 300h and it works great with my iPhone.
When she connects her Samsung Android, it drops connection from time to time. When she presses the next track, another application on her phone plays a song. LOL!
Say she's playing something on Youtube music and she pressed next song from the steering wheel, another Android music app would start playing a song. Youtube is her default music player.

When I plug my iPhone in and presses next song, plays the next song flawlessly.
Then I saw a video review on youtube reviewing a 2022 model of the NX and they said, "Lexus finally supported Android carplay". So Lexus didn't give Android the same love as Apple until recently?