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Android auto freezes when launching assistant

If I say ok Google or long press the voice command button on steering wheel while in my car's home menu (2017 Civic) it tries launching into Android auto but freezes at a black screen for a while. This happens quite often, and I've tested it with two different devices now (OnePlus 3t and pixel 2). I have to put the cord out and put it back in for it to reload. Why is this bug happening?
 
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