I'm an iPhone guy and Android Auto seems to have a number of issues, presumably why some car manufacturers are not supporting it including Toyota. That said, the new Google Pixel 3a looks like a darn good phone and great value, and free from the crapware and update issues from the other Android handset manufacturers. I think that is the phone to get to get the best benefit out of AA and other Android features directly from the OS provider. The only feature it is missing that seems to concern a number of car owners is wireless charging. But I've not heard of the charging issues on Pixels hooked up to car USB that other handset makers seem to have.
2018 Kia Niro LX HEV Metal Stream - identical to Ioniq drivetrain