Must unlock phone to read messages in Android Auto. (Running Android 11 Beta.)

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Android Central Question

I have a Pixel 2 XL that I upgraded to the Android 11 beta. When connected to my car using Android Auto, and I say 'Hey Google, read messages,' I'm asked to unlock my phone first. I don't remember having to do this under the previous version of Android.

Does anyone else have this experience, and if so, is there a way to automatically have my phone unlock and stay unlocked when connected via USB to Android Auto?

Thanks.

Mike.