No. Android Auto is a Google/Android Product that runs many apps off your phone on the cars touchscreen in a safer format: Android Auto
The 2020 Tacoma/4runner/etc. will have Android Auto built in (sounds like the 2020 LC may be left out). That way there is no need to tether or use bluetooth to get the system to work. Just plug your phone in and go. The lack of Android Auto and having to tether is what turned me off from this a year ago. Now that it has been upgraded to offer Android Auto, it may be a good solution.
I was worried about tethering with battery drainage. Did some testing the last three days keeping it on all the time. No noticeable battery loss. I am sure when connected it will eat some but that made me more comfortable. I am looking for a better solution as native system is bad so I am using my phone for navigation, etc. anyway. So why not have it on the screen.