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Doesn't Android Auto carry audio over Bluetooth? That would be consistent with how unreliable the audio is.
Hey don’t knock it until you’ve tried Apple’s equivalent (wireless CarPlay) which has a 3 second buffer since they decided to use Wi-Fi for audio. Imagine if every time you play or pause or change tracks you have to count to three in your head before it responds. Yes, I’m bitter. Somehow the video and touch are lag-free 1 but the audio is on a delay. I’d love to have regular Bluetooth audio be used.
AirPlay 1 has this delay (or more like 2 seconds to be fair), while it is reduced to like 200ms on AirPlay 2.
shairport-sync runs on a raspberry AND supports airplay 2. You can hook it up to your car.