Using phone and android auto at the same time?

I've noticed that when Android Auto is enabled unlocking the phone leads to a black android auto screen and the home button is disabled. I've also found that engaging a notification can bypass this android screen and allow android auto and the app on the phone to be used at the same time. I'm wondering if there is a way to allow the phone to be used without the workaround so my passenger can use the phone while android auto is enabled.

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