After engaging GM and Verizon, both who tried to help, the answer was to Remove Private Data from the Infotainment system. All other options including resetting the phone did not work. I'm a bit surprised that GM, who tried to assist via their Connection Center, did not suggest this.
Having a similar issue. Have used my Google Note 10+ with my 2017 GMC Acadia Denali for 4 years with no issues. All of a sudden over the weekend the vehicle refused to connect. I get the following message. Meanwhile my wife's Note 10+ still connects to Android Auto on this vehicle. My Note 10+ still connects to Android Auto in my 2019 Corvette. Have swapped cables for new cables. Same phone & cables work fine when connecting phone to my PC to transfer files. Please help.