My android auto delay when speaking/reading text

[Android Central Question]

Hello. I have a Galaxy s7 that I connect to a 2017 honda civic via android auto. There is a delay between the microphone and the speech. For example, I will activate the voice command and say "send a text to Robert". It then replies, "Send a text to Robert. Sure. What's the message?" This is where the problem comes in. The microphone begins waiting for a response when the speech is still talking. So I will say, "See you tonight" (for example). Google Voice will pick up the sound of itself saying "What's the message?" So it thinks I want to say "What's the message see you tonight" Has anyone else ever had this problem? How do you fix it?