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Have you tried some of the proposed workarounds here: https://www.androidpolice.com/google-pixel-owners-report-android-auto-connection-issues/, namely toggling Bluetooth off/on and checking your USB cable?
I don't use Android Auto but if it was updated yesterday then maybe you could try downgrading it?
Thanks! BTW, after trying a few things, what finally worked was removing the Pixel 4a from the car AA and Bluetooth menus and then readding it.
good to know, thanks for sharing!