Found a fix!

Ok there are two things that worked for me. Ditch the factory USB port and never use it again

Now delete the truck from the phone and the phone from the truck and re pair. Don’t use the cable. worked on my 2019 Tundra.

Option two update to IOS public beta 3.3. now delete the truck from the phone and the phone from the truck and re pair. Don’t use the factory USB port ever again! Worked on my 2019 Tundra As of 12/1/19