Sounds like a Kia problem, maybe they can help? Have you referenced the "infotainment" manual for the vehicle to see if there's guidance there?
From what I've seen there is no "pair AA with Waze". If mapping works the same as audio - when Waze installs it "declares" that it is a mapping app for Android Auto. As such, when you enter the map functionality you also have an option to choose which map app is used (by tapping the diamond icon which now has a little arrow), select Waze and it's done.
Having an "install screen" on the car sounds very odd for the way AA functions. AA is a simplified interface that, when connected to a head unit supporting it, displays on the car head unit but the functionality is 99% run from the phone. The 1% being display and input, the processing and apps all reside on the phone.
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