First, do you want it to connect to Android Auto every time you enter your car? If not, go to the AA settings and turn off automatically connect, or go to your car's control panel and stop it from auto connecting. Is it not illegal in your state to wear headsets while driving? If your phone is connected to your car's Bluetooth or to AA, there is really no need to have your headset on, so the easy solution would be to turn your headset off before starting your car.
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