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Recently got my own 2020 and still figuring it out. Voice inputs are available directly on the vehicle's in-built navigation system and also through Android Auto - when using the later, you can say "Ok Google, and use various Google commands. The voice input to the vehicle's in-built navigation does not require you to say Ok Google first - you can just say "Navaigate to {address, Joe Cramer's house"}, etc. Same with texting.
I don't know what's going on with Android Auto either - I use Waze more than Google Maps and I have Waze installed in AA, but it never shows up on the display - only the voice navigation prompts go through. And it doesn't appear that either Google Maps or Waze features that show speed traps, accidents and other road hazards are displayed, and you can certainly not specify any such hazards in Google Maps or Waze running on AA, not even through voice prompts. Maybe that will come later.
I also agree that the cable requirement kinda kills it for me and it shouldn't be necessary since the vehicle supports WiFi. What's up with that?
As it is, I've settled short-term on using the in-vehicle navigation and then running Waze on my phone - as I always have done on previous Lexus vehicles. I was hoping to do more with AA but its been disappointing so far.
My wife is out with my car right now but Yes, I believe Android Auto has to be installed - if you want to provide the voice input via the button on the steering wheel. However, you could simply pair your phone with the vehicle and then do "heh google text Sam Smith's mobile" and you wouldn't need to press any buttons. This later functionality has always been there as long as Google Assistant is installed on your phone.
So you do have press input button on the steering wheel? I thought I had that working without pressing any button but I will have to try again later today.
At the Android Auto (AA) - beyond the necessary USB-cable - the other very annoying thing is for me, that it occupies the whole 12,3" display! No possibility to split the display, as basicly can be. Why could I not see the AA and an any other information on a splitted display together? It is not well engineered...
For those looking to enable Waze, backstory is that it needs an update to work on AA widescreen. Which is in development, but in the mean time here is how to enable it. On your android you need to enable "developer" mode on Android Auto:
on your phone open android auto app
Go to settings and click 3 dots upper right corner
Go to Developer Settings
Change "Application Mode" to > Developer
Close Android Auto on Phone, reconnect to cable and you should now see it pop up in apps list
Also recommend checking in developer menu that "Day/Night" is set to Phone otherwise Waze is stuck in day mode and is too bright for nighttime driving.