Carplay integration with Airpods 4 and noise cancellation not the greatest

I used my Airpods 4 today and had to get in the car. The experience was different than my Airpods model A2564.

• The Airpods 4 kept stealing the audio from Carplay. (While driving which made it frustrating)
• I would have to remember to turn off the Airpods 4 noise cancellation or take them off when going in the car
• If I take them off and put them in a pocket or the cup holder, they move around and still steal the audio.

It would be nice if Carplay had priority and they turn off whether worn or not during driving.