Pocket Casts for me as well.
I had used Beyond Pod for many, many years on my phones, but they did a major "update" a few years ago, which many people disliked. I kept the old version, and it was great. But for Android Audio compatibility, I had to do the update, and it was a mess. So incredibly frustrating.
Pocket Casts couldn't be simpler, both on my phone, and in the car.
One thing I'm trying to figure out is how to "reset" individual Podcasts that are shown as "In Progress." Sometimes when scrolling through podcasts on the car, to decide which to listen to (me or my wife in the car), one will accidentally get selected, and stays in the "In Progress" section. No big deal, but it would be nice to unflag these, and have them show only in the "Downloaded Podcasts."
One cool thing I just used yesterday was using Voice command with it: "Play 'Wait, Wait, Don't tell me' on Pocket Casts. It took a few seconds, but then started playing it! Given the limitations that Android Audio imposes on scrolling, this can really come in handy!