Toyota App Keeps Asking to Communicate when CarPlay Connects

[smwillia]

I recently got a 2023 RAV-4 Hybrid XLE Premium that has wireless CarPlay. I've set everything up with the Toyota app and connected services and the CarPlay works fine and connects automatically when I start my vehicle. However, every time it connects I keep getting prompted with this notification in my iPhone from the Toyota app asking "to communicate with the Toyota Multimedia TOYOTA RAV4" and gives me the option to either "Ignore" or "Allow." Initially I thought that by clicking "Allow" it would be a one time granting of permission for the app and my RAV's multimedia console, but that has not been the case as it asks me this EVERY time my phone connects via CarPlay. When I do click "allow" it just opens up the Toyota app, but just takes me to the app's home screen and doesn't indicate that any action has occurred. When I click "ignore" the notification goes away, but in either instance the functionality of CarPlay isn't actually impacted, so this communication request actually seems quite pointless (not to mention annoying as I can't use my phone until I click one of those buttons). 

That said, I've combed through the Apple CarPlay forums and checked every possible setting related to the Toyota app and CarPlay, but haven't been able to find any way of disabling this pointless notification. Has anyone else been experiencing this and/or found a way to disable this notification?