How can I get my Google Voice command on Android Auto?

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Trouble with google voice command on andoid auto

If I ask for directions on android auto using voice command, it comes back and says "cannot currently connect with google", but if I unplug the phone from the USB and do the voice command again, it then connects fine and then I reconnect the phone to the USB it shows the directions on the car's screen. Is there something wrong with the car? is there a setting I am missing?