No way that S24 Ultra does not work wireless. My Samsung A34 works...
It was so easy that I don't remember specific way, the only thing I remember was that you need to have car wifi working, BT paired mobile and then for the first time use cable and I have some confirmation on the phone as well (just follow the instructions). Pretty easy setup.
Try to reset unit, setup wifi, pair BT and plug your phone.
But what I don't like, if you set up two devices (I did that for myself and second device for my wife's phone when she is driving), if you are in a car with both devices, you are NOT able to disconnect any of them at all, AA reconnect automatically. Even if you turn off BT on your device, AA re-enable it again in order to keep connection. This is very annoying when in a car together and wife want to call via mobile, not via car - this is impossible!