How can I add my apps such as Waze to my android auto car screen?

I love the Waze App. When my daughter connected her Apple 6 to my car to charge it and used Waze for directions it appeared on the car screen. My new Sonata has Apple Car play as well as Android Auto. She did not need to add car play to her phone to do this.
I thought Android Auto would do the same. I connected my phone via usb also and learned I had to download Android Auto App to my phone. It seems the only apps i could see are Google maps and two other apps on my phone. How can I get Waze from my Galaxy 7 to appear on car screen via Android Auto?

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