Executive summary -- this page seems to cover your options:
https://www.technipages.com/4-ways-to-connect-android-with-car-stereo
I've done similar, a whole bunch of ways over the years... from oldest to newest tech:
- Wired to a cassette adapter. Haha. It works. It sucks.
- 3.5mm jack to an Aux input already available on the stereo. Volume control is a pain. No phone call support.
- Wired 3.5 mm jack to an FM modulator and tune a "clear" station on a memory button on the stereo. Audio quality usually sucks and anywhere there's real population you won't ever find a truly open FM frequency.
- Bluetooth adapter that receives and sends out to a wired cable in the Aux input. Not awful, still has volume control issues and no phone support but best way to do it if you have to go cheap and want it wireless. A few Bluetooth adapters blow chunks at finding and reconnecting to phones that are in range and need a button press. I had to try a few to find one that would both accept hardwired power from the vehicle (some have rechargeable batteries) and also would freaking connect without me touching them.
- Custom adapter for GMC stereos that patched between the existing XM receiver and the factory head unit and offered a hard wired (for iPod/iPhone) cable. The first thing that ever integrated properly so steering wheel controls worked. Did not support phone calls. Did charge the phones.
- New stereo that had both iPhone/iPod inputs and Bluetooth. Best solution overall. Installed by a pro, they install a mic for handsfree calling and these "just work" every time I get in a car.
Various good and bad from each.
Anything that uses a wire out of the 3.5mm jack on the phone is obviously a pain to fiddle with volume on. Have to adjust both the phone and the stereo. Also controls are on the phone so mount it and lock it down where you can see it so you can poke at it when safe to do so.
Best experience has been two ifferebg things, one of which you can't do with Samsung ...
- Device that replaced one channel of the XM receiver in the GMC and added an iPhone/iPod native cable. Had a shop install it (have to splice the data wire from the XM through it) and it gave complete control of the phone including through the existing steering wheel controls. Downside, screen/text is limited on the GMC stereo so everything has to scroll. Song titles/artist, etc... do come over though.
- Replaced stock stereo with decent quality Kenwood that had both native iPhone connection and Bluetooth.
Both work flawlessly installed by pros including again steering wheel controls in the vehicles that have them, both in direct wired mode and Bluetooth.
Stuff I have but haven't needed to use/try that supposedly works with Android phones:
The Kenwoods all have a USB port. In theory this means they can play audio files stored on the Android phone as if the phone was a USB mass storage device (USB stick). Haven't tried with any android stuff yet. I would miss the phone handsfree integration and steering wheel controls.
Bonus for anything that plugs into the phone USB port is that usually it also charges the phone.
Since I probably will depart the Apple ecosystem soonish, I've been looking at Android compatible stuff and have come to the conclusion that it's likely I'll just be using the dash units we've got that do Bluetooth. The new-ish Android Auto (available in a very limited number of new cars) just isn't quite there yet compared to Apple and the reason why is Apple had the iPod and a control standard many many years before Android existed. The iPhone controls are backward compatible with those old head units and add on gadgets so even the ancient adapter I mentioned above that is hardwired into the GMC can control a modern iPhone via an old iPod to lightning adapter. I used to have an iPod dedicated to that truck that just rode around in the little cubby in the dash and that's where the cable terminates. Nowadays I just plug in the iPhone and it charges (at a very slow rate) and acts like it's an iPod.
So... that truck will be "dead" for Android. I'll either replace that module that busts into the XM cabling with one that does Bluetooth, or I've seen some that bust into more of the wiring harness and even steal the wiring to the old OnStar mic so they can offer hands free phone calls.
But the other three vehicles now have Kenwood heads in them, and their Bluetooth to iPhone has been flawless. I expect they'll work great with the Android phones too.
Might just slap another Kenwood in the GMC and call it good.
As you can see there's another bonus to doing a new stereo. If you have a new head installed, you can also add a microphone for hands free calling. All of the Kenwoods are set to attach to both of our phones via Bluetooth for calls and all are set to auto-answer on the second ring. Completely hands free and the audio quality is decent but not perfect on the caller's end and great coming through the stereo on the vehicle end.
Only problem we've ever had with that feature is a windshield installer didn't pay attention and severed Karen's mic cable installing a new windshield. Was pretty obvious when nobody could hear her. Ha. Otherwise flawless.
So that's the saga of way too much time and money spent to always have my tunes and podcasts when mobile. And phone calls handsfree. And steering wheel controls. Love that last part. Even on old beater vehicles who's controls were meant for factory stereos, it all "just works".
Honestly if you want to save time and headache (but not money) just stop in at any pro car stereo place and tell them you want a deck installed that'll work with your Samsung and do... music, phone, and steering wheel controls (if it has those) and tell them you don't need navigation (the phone can do that, just stick it in a clip/mount when you get in where you can see it). Free. Don't bother installing nav if you don't have it.