Bluetooth issue

Hallo everybody, greetings from Serbia…

Can u please help me with the bluetooth connection between the car and samsung s21 ultra.
Android auto works flawlessly, but there is no way I’m pluging the cable everytime i enter my car.
I can connect my car phone, stream audio ,recieve messages but no contact sharing - its just loading.
Also i can not see who is calling over the car screen , whenever i need to answer a call I need to use the phone?
Has enyone faced this issue before?