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Don't use it. I use Moto Voice and Actions, along with Waze. To use Android Auto, I'd have to turn off Moto Voice for Google Voice Assistant to work, I believe. Don't want to do that.
You don't have to turn it off. When AA is running, Moto drive does allows it to take over.
I hacked my Mazda to enable AA. And it's cool and all. It is nice that Mazdas almost useless voice activation button on the steering wheel becomes my OK Google activation. However, I rarely use it.