Unable to access the keypad in CarPlay while driving

I just bought a '23 Escape. I can have the car or Siri dial a number via voice control, but there is no way to dial #1 for English or #2 for the pharmacy, etc. once the call goes through. When the keypad icon is tapped is says the keypad is not available when in motion- even though my passenger was the one trying to dial the option. So what setting (and where) do I need to change to be able to voice dial and choose options via CarPlay?

[Re-Titled by Moderator]

Original Title: CarPlay and dial a menu number