Do you have a 2020 Taco with CarPlay or an aftermarket head unit? I have a 2018 Taco and had a Pioneer head unit installed and mine does that sometimes. I went to the car audio store that installed it and they weren’t sure what the cause was. They asked if I had tried different cables to attach the phone, and I had, they thought maybe a firmware update might fix it. I didn’t look into that and just used Bluetooth for a long time. Started plugging the phone in two weeks ago and it hasn’t disconnected and reconnected like it used to. Maybe an Apple update fixed it, I have no idea. Sure was annoying though.