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There is no good fix. It's a Google thing. People have tried using roots and OBD2 fixes, but there is no easy solution.
I don't know the Spotify app that well, but it should be possible to scroll through songs on a playlist using controls on the steering wheel or voice control. Those methods shouldn't trigger the scroll warning.
Alternatively, he could skip Android Auto and use Bluetooth instead if it's only connected for the music. That's what I do for other music apps and the steering wheel controls also work just fine that way too as long as I have prepared a playlist in advance.
He is also using it with maps which doesn't work with Bluetooth. Steering wheel allows scrolling true the current playlist not select others. Voice control is more then useless it for some reason can not get a single word right and makes a mess of things.
I have also seem more complicated fix attempts by tricking a parking break sensor or something but that isn't possible with this car (Audi etron)
Yes Android Auto is needlessly complex. I don't think the parking sensor is the cause anyway.
Perhaps there are some options on the phone to disable screen takeover or pop-ups or something. Deleting all app permissions is my best guess.