I do not have a Samsung Phone myself. So i'm not very familiar with typical Samsung issues.
From what i've read. From the Samsung S20-serie, there were much more problems with Android Auto compared to older models and other brands. I do not know if this still exist for the S24 models.
My wife has a Samsung S21. She doesn't use AA very much. But if i compare here AA usage with my Pixel AA usage in same car. And compare this to troubles we both are facing. The S21 has definitely more issues with AA. Wired or wireless does not matter much.
My conclusion.
Some of the AA troubles can be adressed to Samsung.
But also. MRA need to make improvements. You use Osmand as your alternative because MRA is not stable enough. I use TomTom for the same reason.