Yes, to use Apple CarPlay you must connect via a cable. Bluetooth works well but offers limited functionality compared to CarPlay.
However, even CarPlay won't display text messages as that is regarded as a distraction to drivers. It will read your messages though.
Apple do now support CarPlay via Bluetooth but I don't believe any car manufacturers support it yet. Hopefully it will be added via a software update but we shouldn't assume it will.
I suspect Android Auto also needs a cable connection but can't be sure.