This is what I've found.
"Samsung:Galaxy S8/S8+Galaxy S9/S9+Galaxy S10/S10+Galaxy Note 8Galaxy Note 9Galaxy Note 10"
" Android Auto on your car display (with a USB cable)
An Android phone running Android 5.0 (Lollipop) and higher with a data plan. For best performance, we recommend Android 6.0 (Marshmallow) and higher."
🌈 Stay Safe 🌈
Current Phone ~
Samsung Note 20 Ultra 5G SM-N9860_256Gb SnapDragon 865+
Samsung One Ui 3.1/ Android 11.
Yes, but only via cable.
I loaded Android Auto to my phone BEFORE connecting it up in the car. That didn't work.
When I removed it and then connected the phone, AA was downloaded automatically and it all worked fine.
I hope that helps.