I want to "Add to Queue" in Carplay operation

Hello, I mainly use Roon-ARC by connecting it to Carplay.
I drive a 2017 Mazda Roadster (MX5).

Initially, it was only compatible with USB cable connection.
I purchased the Apple Carplay Bluetooth Adapter so I no longer need a USB cable and can fit my iPhone in my pocket.

How can I perform the “Add to queue” operation without touching the iPhone?