comments:
Try using a USB 3.1 cable like this one on Amazon. It should hold a connection better than a 2.0 cable. USB 2.0 cables tend to have disconnect issues. Hyundai's USB ports tend to not be the best of quality and using a USB 2.0 cable makes it worse.
It's likely your USB cable is not capable of high speed data transfer or a cable that's going bad. Android Auto needs to transfer lots of data and a cheaper cable (USB 2.0) cannot handle high speed data transfer. Cheaper cables will charge fine, but cannot handle simultaneous charging and high speed data transfer. I recommend you try a USB 3.1 Gen 2 cable like this one on Amazon. It'll handle high speed data transfer and charge your phone simultaneously. Cables that come with phones are usually rated as USB 2.0 speeds.