The CarPlay systems will have a wired connection, so you’ll have to connect your iPhone via USB.
As has become unfortunately typical from TASCAM, macOS Sierra-compatible drivers for much of their audio hardware are not yet available. Previous years have seen a three-to-six month wait after the release of each new build of OS X for TASCAM to finally put out even preliminary public beta drivers.
TL;DR: if you use TASCAM audio hardware, don’t upgrade to macOS Sierra yet. Check back around Christmas. Maybe.