The record
In a thread started October 14, 2019, a user says that after updating their iPhone XS from iOS 13.1 to 13.1.2, Siri in their car's CarPlay stopped reading back messages they dictated before sending. They add that after Siri read an incoming text aloud, it showed an error rather than offering a reply, forcing them to respond manually on screen. The post does not list troubleshooting steps and asks whether to wait for an update. A week later the poster said iOS 13.1.3 resolved both issues. This reflects one user's experience only.
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A documented user report, not an independently reproduced test or an estimate of how often the problem occurs.