I bought a CarlinKit 3.0 for ~$50 (It shows up once in a while on SlickDeals so you can add a deal alert).
You have to connect to its WiFi while it's plugged in and go to its setting page by inputting "192.168.50.2" into your browser. From there you update the software, let it update then do it again a few times until it says it's up to date. For some reason it upgrades a version at a time instead of to the latest.
While you're in the settings you can change the audio delay setting to about 500ms, from the factory it's at like 2000ms but for me, 500ms was instant changes in tracks. After changing one setting it requires a restart so you have to be patient. Mine started giving connectivity issues for a while until I messed with it, it seemed to connect only when I connected to the device's WiFi so I reset the device in the settings and it is working perfectly again.
For anyone looking into solutions, any of the USB devices listed prior can work, some might be faster than others but best to buy the newest version of the device. I would not buy a CarlinKit 1.0 or 2.0 as the 3.0 is working beautifully and the older ones had many support issues.
Someone mentioned WAMS, I have faith that they can do it but it would easily be a $700+ expenditure based on their current services.
They do offer a 2019+ kit to have OEM wireless CarPlay/Android Auto which is a normal price of $774.99. It involves replacing your radio unit at the least and does not work with the 7" radios.
For the 7" radios they can upgrade you to an 8" but that route is $1k+ at the minimum as you have to change almost every module related to the radio and HMI. For someone just wanting wireless CarPlay/Android Auto then the $50 USB is the best route.
Other than those options, there is nothing else that I've found.