I am also experiencing the same issue; whenever I try to connect to Android Auto, the headunit is just blank, and I receive the following error message:
Android Auto encountered an error: Communication error 21 - Being connected to a VPN may prevent Android Auto from starting. If you're using a VPN, turn it off and try reconnecting to Android Auto.
I have tried turning off Android Auto and reconnecting, however doing so still causes the same error and failure to connect. I have also tried running split tunnel mode on the VPN, and excluding Android Auto. That has not made any difference either. Is there something that I am doing wrong?
Pixel 7 Pro
Proton VPN
GOS build number: 2024070201