My 3 is a 2015. Got it used in 2017 and after a few months, I loaded Android Auto on it using Mazda AIO Tweaks.
Notably, the UI was sluggish and unstable before (and after) I installed Android Auto.
With Android Auto installed, I got a good two and a half years out of moderately reliable use, but just as the pandemic started in March 2020, Android Auto got remarkably unstable. It might run OK for a few songs if I only did one thing, i.e. Pandora OR Google Maps, but doing both almost always caused a freeze within seconds, required the three button salute to reboot the system.
I thought it might be due to the phone (Pixel 3), but I tried a different phone since with the same result (OnePlus 7 Pro). I suspect something changed on the Android side, but Android 9 was six months earlier and Android 10 was six months later. The updated Android Auto design had been out for several months (summer 2019) before I started having issues. Since I haven't driven much since the pandemic started, I still haven't tried to fix it. (I suspect maybe an updated install from Mazda AIO Tweaks might help.)