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Android Auto De-googling
(beehaw.org)
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I don't believe that's possible, the best you can do is foss apps with android auto compatibly. The only one that shows up as an option for me on my phone is VLC, but I'm sure there are at least a few others. Someone on the fossandroid community said osmand works with it earlier today, but I don't remember seeing it show up as an option (but that was with a rental car a year ago, things may have changed.)
I don't remember OsmAnd working on Android Auto, unless I didn't see something in the car side of things I was supposed to open.
Basically the feature is there, but if you are using the F-Droid version, it won't show up in the 3rd party sources area. Here's the issue on GitHub: https://github.com/osmandapp/OsmAnd/issues/15400