IPhone cannot record video when connected to Apple CarPlay and the vehicle is in drive.

When connected to Apple CarPlay, iPhone 13 pro max (ios 16.6.1) cannot record a video when the vehicle is in drive. It is frustrating because I’m rarely the driver, but we use my phone for CarPlay. My husband and I picked up our child from his first day of school and I wanted to capture that moment as they walked him to the car, but my phone could not record video since the vehicle was still in Drive, though not moving.