I don’t use the USB connection on my car other than charging. I assume you do this since you don’t have Bluetooth option. If you did have BT, you would not see a request for a PIN or password between songs. My best suggestion is to look at Pandora’s mobile app advanced settings and make sure auto play is setup as well as the other options for continual play. Secondly, make sure your phone settings are changed for screen timeout whereby it never timeouts or choose the latest time possible. If this doesn’t work, you may be out of luck since there may have been some app changes or your phone operating system updates that block continued play without PIN. Good luck on this.
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