You can get a NavTool for $400 which hijacks your OEM stereo and adds Android / Apple Auto. I did it a few months ago on my old Sync 1 stereo.
Note - I do have issues with voice commands but it's not the issue of the NavTool. Apple voice commands work fine and I have been able to get Android voice commands to work by downgrading to an older Android Auto app on my phone. The problem is that Android forces me to update to the newest version the next time I use it. It's a pretty well known issue with Android specifically. It could be related to my phone as well. I haven't tested it with another Android phone.
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