I can echo a similar scenario as above. While plugging in my phone to Android Auto is easy, there is still the time required to allow your phone to transition from WiFi to LTE, back-up-camera enabled when backing out of your garage, and opening up the Android Auto menu (but first I have to tap home and go into it).

Overall, in a driving commute of about 25 minutes I have to spend the first 2-4 minutes effectively waiting to configure Android Auto and for it to kick in with the proper signal and menus.

It's a hassle for everyday commuting when the purpose of AA is to simplify a lot of the work. The menu systems are also a bit of a pain to navigate for podcasts. So I end up organizing my music/podcasts before I get in the car.