diff --git a/.breakage-allowlist b/.breakage-allowlist
index a3dd32ca5ae..fa365892843 100644
--- a/.breakage-allowlist
+++ b/.breakage-allowlist
@@ -4,3 +4,5 @@ Func CarPlayManagerDelegate.carPlayManager(_:waypointCircleLayerWithIdentifier:s
 Func CarPlayManagerDelegate.carPlayManager(_:waypointSymbolLayerWithIdentifier:sourceIdentifier:) has been added as a protocol requirement
 Func CarPlayNavigationViewControllerDelegate.carPlayNavigationViewController(_:waypointCircleLayerWithIdentifier:sourceIdentifier:) has been added as a protocol requirement
 Func CarPlayNavigationViewControllerDelegate.carPlayNavigationViewController(_:waypointSymbolLayerWithIdentifier:sourceIdentifier:) has been added as a protocol requirement
+Func CarPlayNavigationViewControllerDelegate.carPlayNavigationViewController(_:guidanceBackgroundColorFor:) has been added as a protocol requirement
+Func CarPlayManagerDelegate.carPlayNavigationViewController(_:guidanceBackgroundColorFor:) has been added as a protocol requirement
\ No newline at end of file
diff --git a/CHANGELOG.md b/CHANGELOG.md
index bc1c5546ee2..5004fd8a69f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,7 @@
 
 ### Packaging
 
+* Add ability to configure `CPMapTemplate.guidanceBackgroundColor` via delegate method https://github.com/mapbox/mapbox-navigation-ios/pull/4620#pullrequestreview-1974123920
 * MapboxNavigation now requires [MapboxMaps v10.16.5](https://github.com/mapbox/mapbox-maps-ios/releases/tag/v10.16.5). ([#4605](https://github.com/mapbox/mapbox-navigation-ios/pull/4605))
 * MapboxCoreNavigation now requires [MapboxDirections v2.12.0](https://github.com/mapbox/mapbox-directions-swift/releases/tag/v2.12.0). ([#4605](https://github.com/mapbox/mapbox-navigation-ios/pull/4605))
 * MapboxCoreNavigation now requires [MapboxNavigationNative v202._x_](https://github.com/mapbox/mapbox-navigation-native-ios/releases/tag/202.0.0). ([#4605](https://github.com/mapbox/mapbox-navigation-ios/pull/4605))
diff --git a/Sources/MapboxNavigation/CarPlayManager.swift b/Sources/MapboxNavigation/CarPlayManager.swift
index d8546891539..4b523642dc8 100644
--- a/Sources/MapboxNavigation/CarPlayManager.swift
+++ b/Sources/MapboxNavigation/CarPlayManager.swift
@@ -1243,7 +1243,12 @@ extension CarPlayManager: CarPlayNavigationViewControllerDelegate {
 // MARK: CarPlayMapViewControllerDelegate Methods
 
 extension CarPlayManager: CarPlayMapViewControllerDelegate {
-    
+
+    public func carPlayNavigationViewController(_ carPlayNavigationViewController: CarPlayNavigationViewController, 
+                                                guidanceBackgroundColorFor style: UIUserInterfaceStyle) -> UIColor? {
+        delegate?.carPlayNavigationViewController(self, guidanceBackgroundColorFor: style)
+    }
+
     public func carPlayMapViewController(_ carPlayMapViewController: CarPlayMapViewController,
                                          didAdd finalDestinationAnnotation: PointAnnotation,
                                          pointAnnotationManager: PointAnnotationManager) {
diff --git a/Sources/MapboxNavigation/CarPlayManagerDelegate.swift b/Sources/MapboxNavigation/CarPlayManagerDelegate.swift
index 3e90baa8dd8..263a5dfd4ce 100644
--- a/Sources/MapboxNavigation/CarPlayManagerDelegate.swift
+++ b/Sources/MapboxNavigation/CarPlayManagerDelegate.swift
@@ -532,6 +532,17 @@ public protocol CarPlayManagerDelegate: AnyObject, UnimplementedLogging, CarPlay
                         shouldUpdateNotificationFor maneuver: CPManeuver,
                         with travelEstimates: CPTravelEstimates,
                         in mapTemplate: CPMapTemplate) -> Bool
+
+    /**
+     Asks the receiver to adjust the default color of the main instruction background color for a specific user interface style.
+     According to `CPMapTemplate.guidanceBackgroundColor` Navigation SDK can't guarantee that a custom color returned in this function will be actually applied, it's up to CarPlay.
+
+     - parameter carPlayManager: The `CarPlayManager` object.
+     - parameter style: A default `UIUserInterfaceStyle` generated by the system.
+     - returns: A `UIColor` which will be used to update `CPMapTemplate.guidanceBackgroundColor`
+     */
+    func carPlayNavigationViewController(_ carPlayManager: CarPlayManager,
+                                         guidanceBackgroundColorFor style: UIUserInterfaceStyle) -> UIColor?
 }
 
 public extension CarPlayManagerDelegate {
@@ -863,6 +874,7 @@ public extension CarPlayManagerDelegate {
     func carPlayManager(_ carPlayManager: CarPlayManager,
                         shouldShowNotificationFor maneuver: CPManeuver,
                         in mapTemplate: CPMapTemplate) -> Bool {
+        logUnimplemented(protocolType: CarPlayManagerDelegate.self, level: .debug)
         return false
     }
 
@@ -872,6 +884,7 @@ public extension CarPlayManagerDelegate {
     func carPlayManager(_ carPlayManager: CarPlayManager,
                         shouldShowNotificationFor navigationAlert: CPNavigationAlert,
                         in mapTemplate: CPMapTemplate) -> Bool {
+        logUnimplemented(protocolType: CarPlayManagerDelegate.self, level: .debug)
         return false
     }
 
@@ -882,8 +895,18 @@ public extension CarPlayManagerDelegate {
                         shouldUpdateNotificationFor maneuver: CPManeuver,
                         with travelEstimates: CPTravelEstimates,
                         in mapTemplate: CPMapTemplate) -> Bool {
+        logUnimplemented(protocolType: CarPlayManagerDelegate.self, level: .debug)
         return false
     }
+
+    /**
+     `UnimplementedLogging` prints a warning to standard output the first time this method is called.
+     */
+    func carPlayNavigationViewController(_ carPlayManager: CarPlayManager,
+                                         guidanceBackgroundColorFor style: UIUserInterfaceStyle) -> UIColor? {
+        logUnimplemented(protocolType: CarPlayManagerDelegate.self, level: .debug)
+        return nil
+    }
 }
 
 /**
diff --git a/Sources/MapboxNavigation/CarPlayNavigationViewController.swift b/Sources/MapboxNavigation/CarPlayNavigationViewController.swift
index 2963bc520d4..83ad10112e3 100644
--- a/Sources/MapboxNavigation/CarPlayNavigationViewController.swift
+++ b/Sources/MapboxNavigation/CarPlayNavigationViewController.swift
@@ -288,13 +288,15 @@ open class CarPlayNavigationViewController: UIViewController, BuildingHighlighti
                 currentUserInterfaceStyle = .dark
             }
         }
-        
+
+        let backgroundColor = delegate?.carPlayNavigationViewController(self, guidanceBackgroundColorFor: currentUserInterfaceStyle)
+
         switch currentUserInterfaceStyle {
         case .dark:
-            mapTemplate.guidanceBackgroundColor = .black
+            mapTemplate.guidanceBackgroundColor = backgroundColor ?? .black
             mapTemplate.tripEstimateStyle = .dark
         default:
-            mapTemplate.guidanceBackgroundColor = .white
+            mapTemplate.guidanceBackgroundColor = backgroundColor ?? .white
             mapTemplate.tripEstimateStyle = .light
         }
     }
@@ -916,14 +918,8 @@ open class CarPlayNavigationViewController: UIViewController, BuildingHighlighti
             text += "\n\(secondaryText)"
         }
         primaryManeuver.instructionVariants = [text]
-        
-        // Add maneuver arrow
-        if #available(iOS 13.0, *) {
-            primaryManeuver.symbolImage = visualInstruction.primaryInstruction.maneuverImage(side: visualInstruction.drivingSide,
-                                                                                             type: styleManager?.currentStyleType)
-        } else {
-            primaryManeuver.symbolSet = visualInstruction.primaryInstruction.maneuverImageSet(side: visualInstruction.drivingSide)
-        }
+
+        primaryManeuver.symbolSet = visualInstruction.primaryInstruction.maneuverImageSet(side: visualInstruction.drivingSide)
         
         let junctionImage = guidanceViewManeuverRepresentation(for: visualInstruction,
                                                                navigationService: navigationService)
diff --git a/Sources/MapboxNavigation/CarPlayNavigationViewControllerDelegate.swift b/Sources/MapboxNavigation/CarPlayNavigationViewControllerDelegate.swift
index 944125731d3..8a49c9a839e 100644
--- a/Sources/MapboxNavigation/CarPlayNavigationViewControllerDelegate.swift
+++ b/Sources/MapboxNavigation/CarPlayNavigationViewControllerDelegate.swift
@@ -123,6 +123,17 @@ public protocol CarPlayNavigationViewControllerDelegate: AnyObject, Unimplemente
      */
     func carPlayNavigationViewController(_ carPlayNavigationViewController: CarPlayNavigationViewController,
                                          willAdd layer: Layer) -> Layer?
+
+    /**
+     Asks the receiver to adjust the default color of the main instruction background color for a specific user interface style.
+     According to `CPMapTemplate.guidanceBackgroundColor` Navigation SDK can't guarantee that a custom color returned in this function will be actually applied, it's up to CarPlay.
+
+     - parameter carPlayNavigationViewController: The `CarPlayNavigationViewController` object.
+     - parameter style: A default `UIUserInterfaceStyle` generated by the system.
+     - returns: A `UIColor` which will be used to update `CPMapTemplate.guidanceBackgroundColor`
+     */
+    func carPlayNavigationViewController(_ carPlayNavigationViewController: CarPlayNavigationViewController,
+                                         guidanceBackgroundColorFor style: UIUserInterfaceStyle) -> UIColor?
 }
 
 public extension CarPlayNavigationViewControllerDelegate {
@@ -218,4 +229,13 @@ public extension CarPlayNavigationViewControllerDelegate {
         logUnimplemented(protocolType: CarPlayNavigationViewControllerDelegate.self, level: .debug)
         return nil
     }
+
+    /**
+     `UnimplementedLogging` prints a warning to standard output the first time this method is called.
+     */
+    func carPlayNavigationViewController(_ carPlayNavigationViewController: CarPlayNavigationViewController,
+                                         guidanceBackgroundColorFor style: UIUserInterfaceStyle) -> UIColor? {
+        logUnimplemented(protocolType: CarPlayNavigationViewControllerDelegate.self, level: .debug)
+        return nil
+    }
 }