We would suggest you update to the latest firmware version WW-15.0400.1905.512 and check again.
You may check update in Settings > System > System updates,
or download from our website: https://www.asus.com/Phone/ZenFone-4-Selfie-ZD553KL/HelpDesk_BIOS/
How to manually update: https://www.asus.com/support/FAQ/1009748/
If the problem still appears, please provide us with the error message screenshot, or a short video of the problem.
To share videos, please upload it to ASUS WebStorage (https://www.asuswebstorage.com/navigate/) and share the link with us.
Please also provide your Android Auto version, Car brand, model, and year.
Thank you 🙂