You would probably need to look at the car stereo settings menu for Bluetooth or connections. My mother's 2011 Hyundai Tucson can connect via Bluetooth, so you should be able to connect like you're looking for. You just have to find out how to pair stereo to phone.
Thanks for your suggestion. I'm able to connect the phone to the car, but my question is about having both music playing and being on a phone call simultaneously.
You should be able to play music through your car syereo, either vua android auto or bluetooth music settings. If you are connected to the car for music and phone, the music will pause while you are on the phone. This would be true even if you were playing your car radio and your phone was connected for calls.
