If you review my previous post I posted a video clip of just denying location for only Android Auto within the phone's Android Auto App Settings/Permissions. You don't have to toggle on and off just leave it denied.
Not sure if this link will take you to the video clip, but here it is...
Have you tried going into your Android Auto App Info, selecting Permissions and Denying "Location". As soon as denied location Android Auto wirelessly working with no issues. I still get the boot loop if I use the usb cable.