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I have been having an issue for a while now on two different phones and Android Auto. I'm using the AVH4100-NEX and have used a Samsung Galaxy S2 running Cyanogenmod and a stock Nexus 6P. What happens is when Android Auto first loads, I open spotify and start playing music but I get no audio. I have found I can get Spotify working if I start with or switch over to Google Play Music or Pandora and play something in one of them, then I can then go back over to Spotify and audio will work fine again until I disconnect my phone.
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