I've looked at the carplay manual and a couple of YouTube videos and it looks like you have to use the touchscreen or long press the voice command button on the steering wheel and ask Siri to "read new messages".
It's OK to glance at a couple of familiar words such as, "OK/Cancel" or "Reply/Cancel" etc. on the screen. Those are "sight" words that are probably recognized more like icons than reading the actual words. A text message is a different story - those take some degree of comprehension.
A quick Google search states that an SMS text can be 918 characters long. I did not bother to research iMessage limits. That's a lot to read while driving. It goes against the objective of CarPlay.
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