CarPlay message dictation picking up Siri voice.

This is happening more and more frequently: I will press reply or compose a message. Siri will say "What would you like to say to person?" and the Siri voice will cut out. The recipient of my message will see "what would you like..." added to the beginning of the message.

This is on Wireless CarPlay.

Is anyone experiencing this and can I prevent it? It's very annoying as it makes the message completely unreadable.