I thought I'd share this as I encountered an issue syncing phone contacts and I didn't find a solution online, but have worked out a fix.
I'd added some new contacts on my phone and later connected to the car via Bluetooth. I had allowed for contacts to be shared yet these new contacts failed to appear in the list on the car.
I incorrectly assumed the new contacts were not syncing, but they were because the counts tallied, I just couldn't see them.
I finally figured it out.
These new contacts I had added with addresses so I could navigate to them, but there were no telephone numbers. It seems the Infotainment software decides to hide these contacts.
The solution was to add dummy phone numbers in for these contacts and then they appear as required in the contacts list. This was Android but I assume it would be the same with iPhone.