Android Auto has some pretty crappy bugs right now and has since at least January for me.
Running at SPF instead of FPS until I close and reopen maps. The biggest bug is the menu bar at the bottom stops responding unless I reconnect.
I’ve tried wired and wireless. Reset phone and car to factory defaults. Using S21FE on a Peugeot e208. I see similar reports on Google forums and that other site and no fixes.