I have been emailing Grom Audio UK
Richard there confirms the latest VL2 with 8.1 firmware supports Apple CarPlay. There is an activation process to follow and daily use is via USB cable only:
Apple CarPlay Activation: CarPlay is not installed by default, please make sure CarPlay is enabled on your iPhone, connected to USB1 port, then tap on the grey CarPlay Icon, then tap on ”Activate CarPlay UI” 11 times, this then activates CarPlay.
If you get CarPlay working, do let us know what you think?
Might be worth contact Grom UK regarding the issue of reverse camera - Lexus map?
info@gromaudio.co.uk