Android Auto is described as 'Brings familiar apps and services to the screen in your dash, making it safer and easier to get the information you need while you’re on the road. Test drive Android Auto with your Android 5.0+ device and a compatible vehicle or aftermarket head unit' and is a Map service in the audio & music category. There are five alternatives to Android Auto for iPhone, iPad, Web-based and Android. The best Android Auto alternative is Apple CarPlay, which is free. Other great apps like Android Auto are CarOS, Airbiquity, iCarMode: Drive Safely and SafeDrive Companion.
Apple CarPlay is a smarter, safer way to use your iPhone in the car. Just plug in your iPhone and go.
It's not even for Android; it's only for iOS devices
Some users think Apple CarPlay is a great Android Auto alternative, some don't.
iCarMode contains the major features needed to ease & improve your iPhone-Car experience. The large buttons give you a quick and comfortable access to your favorite contacts, playlists, navigation and other useful features.
SafeDrive Companion is a driver-friendly overlay app for Android 12+, giving full phone control while keeping navigation visible.
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If I understood it right then it cannot be used without having the iPhone paired with car. Android Auto can be used without having it paired with car.