Could it be that it’s losing Bluetooth connection that precipitates the freeze? I remember getting a message like “Phone Not Found” at some point in the process, possibly right before the freeze. I don’t think I had to do anything to re-pair my iPhone afterwards. Just a thought.
Yesterday I was plagued by screen freezes as I was trying to use Android Auto. For example, I would do a voice command for a phone call and during the call would notice that the google logo and the "call in progress" icon were frozen on the screen. They remained frozen and I couldn't actually disconnect the call. I had to press HOME to get out of it. This happened a few more time as I tried to use android auto. Did not seem to happen otherwise.
That isn't what caused my freeze. I have never been able to get Android Auto to work. I believe that my phone is not compatible for some reason. I have tried every imaginable solution. One day I will get around to trying with my wife's phone