In short
Driving Routes appears on your car's CarPlay screen as soon as the iOS app is installed and your iPhone is connected to a CarPlay-compatible car. No extra setup is needed.
Frequently asked questions
How do I add Driving Routes to CarPlay?
Install the iOS app. Connect your iPhone to your car. Driving Routes appears on the CarPlay home screen.
Driving Routes doesn't appear — what's wrong?
Check Settings → General → CarPlay → [your car] → Customize. Make sure Driving Routes is in the visible list.
Is CarPlay included in the subscription?
Yes — CarPlay is included on every paid plan.