I've had the same issue - sometimes it happens when I've been listening, turn off the car, and then turn it back on. Sometimes I can get it to fix by "disconnecting" the phone as if I'm using a different phone for Android Auto, or sometimes by closing Pandora app and reopening it, but not always. I've also had my phone be playing the song that shut off when I turned off the car - my purse will be quietly singing to me and I'll realize it a few minutes later.
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