Follow the guidelines and steps given further to enjoy YouTube or any of your favourite apps on CarPlay.
For this, you need to install the CarPlayhacks App. There, it contains the official WheelPal App to download.
If your device is running iOS 13 or above versions, WheelPal is compatible with your iPhone.
WheelPal is now installed and ready to use. You can now add any app to Apple CarPlay.