I have a 2020 Hyundai Sonata Limited, with the Nav system, and so does not itself support wireless Android Auto. I received my AAWireless device several months ago, and it is excellent. I have things configured so that without doing anything on my phone, or on the car, whenever I drive anywhere, Android Auto is up and running on the Display within a minute or two. It will occasionally glitch and have to be rebooted, but overall it's pretty stable and reliable.
For short drives, I'll just keep the phone in my pocket. For longer drives, my Sonata has a wireless charging pad, and I just put the phone on that. It gives me the best of both worlds, and I'm really enjoying it.
The only significant downside is that the Sonata maintains power to the USB port for perhaps 5 minutes after I turn the car off, and it also turns on for the same time if I just open one of the doors to get something. My phone then remains connected to the AAWireless device for those times, which is a minor aggravation. Once it times out, I reconnect to home WiFi, or cell signal if away from home. They do plan on addressing this with an update to the companion app, which would be the icing on the cake.
I used this with my prior Note 8 for most of this time, but have had the S21 Ultra for about a month, and it works just as well.