It is kind of new as of 13.5, in that before it only showed up if you had enabled "DND while driving", whereas now it shows up automatically if you're connected to a car stereo via BT.
It's irksome, mostly because it broke being able to use Siri to get directions using 3rd party navigation apps. Before I could say "Hey Siri, directions to [wherever] using Waze (or Google Maps)" and it worked, now it replies "I'm sorry, I can't do that while you're driving".