There is a lot in the CDR FAQ
So I'll skip duplicating the FAQ and share my most common fixes.
1. Record at 2X speed.
2. Use other media.
3. Don't use black or CDRW media.
4. Use a new CD recorder. (Old drives tend to lose laser power.)
Your issue is an old one, well covered in the CDR FAQ and my reply is to share what I've used to fix some of these. It will never fix the car AudioCD issue (which is noted in the CDR FAQ.)
And to head off where the CDR FAQ is, I used google.