As outlined in an updated support document, Android Auto supports wireless connectivity on nine Samsung handsets, which more than doubles the total number of supported phones to 17 devices. Here is the full list...
On the Pixel and Nexus devices outlined above, Android 8.0 or later is required. For the Samsung phones that have now been added, Android 9.0 or higher is required to connect wireless to Android Auto.
Things are a bit better in the Android camp. While support for wireless connectivity is not ubiquitous, it's certainly encouraging to see Google add a bunch of Samsung phones to the mix, including its latest flagship offerings among the Galaxy S and Note series.
There is a tiny caveat—you still need a cable to initially tether your phone to set things up. Once you do that, however, you can ditch the cord if you would prefer to roll that way.