Is there a way to....

have Apple car play turned on so that I can use maps and still play Sirius XM? Seems like the ability to play XM goes away once I toggle to ACP

 

Download the XM app to your phone and open it through Apple CarPlay. That will allow you to open both.

 

I use Apple Car Play to use one of the map apps (Google, Apple, Waze, etc) and still have access to Sirius XM. What happens when you try?

 

Exactly. SXM keeps playing and you can toggle back to that screen via the "Toyota" button on CarPlay if you want... and then back to Google maps, Toyota Nav or whatever. As many times as you want. Unless yours is somehow behaving different??

 

Yup download the app on your iPhone. It will be available in CarPlay.

 

I think I figured this out. The "sources" button seems to allow to toggle back and forth. Thanks!

 

you can either select the XM station prior to entering Carplay, then toggle over to Carplay via the infotainment screen and its business as usual

OR what I usually do is:

use the steering wheel controls (Source - Left and Right arrows - Volume Up & Down) while you are actively in the Carplay screen to control the radio.

*Note this also allows you to toggle through all of your various audio sources. Just keep hitting the steering wheel control Source button until you get to XM.