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There's openauto, which seems to be an Android Auto emulator. https://bluewavestudio.io/shop/openauto-pro-car-head-unit-solution/
PilotDrive is more interesting. New, and not as powerful, but built from the ground up. https://github.com/lamemakes/pilot-drive
Both of these seem really interesting!
If you decide to try one out, please respond here or make a post. I don't drive more than 2 or 3 times a month, but I really want something like this set up.
Android Auto is basically a 'standard' - your inbuilt car multimedia or head deck only knows how to speak in Android Auto or Apple Car play. Unless the manufacturer included a facility for screen mirroring (which mostly suck), it's pretty hard to get it to do anything else.
Something like this (yes I know this one is out of stock) is probably your only option: https://www.amazon.com/gp/product/B09H6NX9C3?redirectFromSmile=1
Box interfaces with your vehicle android auto, but is then able to pass through mirroring signal of your phone. So you interact with the in-vehicle display, but you are actually controlling your phone.
Came here to say this. Others would require mounting an Android tablet, I imagine.