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Way back in the day (2013?) I replaced my Impreza head unit with a Pioneer AVH4000NEX, which did exactly what you are looking for. Unfortunately the Pioneer units are a bit pricier than you are looking for, unless you go used.
You might look into the current iteration of BRZ head units, as my 2020 BRZ works exactly like you want, I plug in the lightning cable and CarPlay goes, no further input from me required.
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