I had this exact same issue on my S23 Ultra, with USB Charging and Android Auto disconnecting so often both were unusable. Cleaning didn't fix it, and I called Samsung to figure out what to do.
They suggested to wipe the cache partition.
I scoffed at the idea, since the issues I was seeing seemed like an obvious hardware issue, but tried it anyway. Much to my chagrin it actually worked, and I haven't had any issues with USB charging or Android Auto disconnects for months now.
To do it, shut down your phone. Then hold Power + Volume Up until it brings up the Android Recovery menu. Use the volume keys to go down to Wipe Cache Partition, then press power to select it. You'll still have all your apps, data, etc and it's a whole lot faster and cheaper than trying to replace boards or send it back for a replacement.