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After further testing the problem persists. As long as my phone screen is on everything works fine. But if I switch the screen off the problem comes back.

I just got my truck yesterday with the same problem. I have a Samsung Galaxy s 21 ultra. I kept getting the message too. I believe I have fixed it now. In the power settings of the phone, you have to add android auto to the list of apps that never sleep. Otherwise your phone is trying to save...