Control Non-Android Auto Apps in Android Auto?

I have Android 9 on a Moto G6. I use Android Auto for maps and compatible apps. However, I have a handful of media apps that are not Android Auto-ready. I can pause and play them if the music is streaming over Bluetooth. However, if I plug in the the phone, Auto starts, and I get a message on the headset "Bluetooth Streaming is unavailable", and the controls to pause and play go away.

However, if I start the media manually, the audio will play through the car stereo, but I cannot control it because Android Auto open. Is there a way to get a "generic" app or other set of controls to pause and play media apps while in Android Auto?

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