Enable Android Auto from Motorola Moto g84 to Toyota Aygo 2019

I have been using Android auto with my Toyota Aygo 2019 ed. until 2022 on many connected devices without any problems. I have then switched to another car and stopped using Android Auto at all. Today I have come back to my old Toyota Aygo with my new phone (Motorola Moto g84) and tried to connect Android Auto. It failed completely. My car shows: > **Android Auto**: Stop your car and park it. Continue setup on your phone. In the same time my phone shows: > **Android Auto**: You are connected to your car. That's it. The above notification and a "Disconnect" button below it. No actual Andriod Auto screen (as in case of other cars), now setup steps, PIN, pair, whatever. Nothing. When I disconnect a cable between my phone and car's USB port (required in case of Toyota Aygo, no Bluetooth-only Android Auto support) then the above notification turns into "Android Auto available. Connect your phone via cable to continue". And again there is nothing to setup, configure, pair etc. It clearly looks like my Motorola would consider a connection already established and ready to go. While my Toyota detectes it as a brand new (which is true) and waits for a configuration completion on phone side. Is there anything I can do about this?