Given that CarPlay apps must follow some design guidelines (voice interaction, minimal distraction all other stuff etc), how practical, or realistic is it for smaller developers to build useful CarPlay apps that still comply and get approved by Apple?

I came across an article from Bamboo Agile https://bambooapps.eu/blog/carplay-app-development about CarPlay app development, and it highlighted things like minimising driver distraction highlighting how restrictive Apple design rules can be when it comes to CarPlay, things like minimising heavily on voice controls, and limiting certain categories of apps altogether. It made me wonder how realistic it is for small or independent developers to navigate these constraints and still be approved by apple?