My Moto G6 is just a micro USB (only fits in one way).
I did manage to get it working by uninstalling the app off the phone (even though guides tell you to install it first), plugging the phone in to the right hand USB socket on the car (wouldn't work at all in the left one, kept saying connect the phone), then pressing the Android auto button on the car screen and installing the app after the prompt on the screen appeared, then following the prompts on the phone as it installed.
TBH I'm a bit underwhelmed by it all as I'm not a big phone user for anything other than making calls and texting. Seems like a lot of faffing about for little reward.
I don't know if I'm missing the point here but I can't think of many uses for Android Auto for me, the car already has built in navigation which shows charging points etc., it has USB and bluetooth music playback and the only advantage of Android Auto is the voice search, ask Google bit.