AFAIK not just google play, but you have to enable unknown apps
Edit: My bad, seems you have to get it from google play or set the installer to google play via shizuku
https://codeberg.org/comaps/comaps/issues/1234 https://www.comaps.app/support/how-to-use-android-auto/










You will first have to set up Shizuku and then use a app client that supports it. Here is a config for Obtainium.
It basically installs the app via ADB, which allows faking the installation source