Doesn't Android Auto carry audio over Bluetooth? That would be consistent with how unreliable the audio is.
Yes, I’m bitter. Somehow the video and touch are lag-free 1 but the audio is on a delay. I’d love to have regular Bluetooth audio be used.
AirPlay 1 has this delay (or more like 2 seconds to be fair), while it is reduced to like 200ms on AirPlay 2.
shairport-sync runs on a raspberry AND supports airplay 2. You can hook it up to your car.
Choosing to buffer for 3 seconds isn't the fault of wifi. There is no reason it couldn't start playing in a few milliseconds.