Android Auto is a slightly nosier remote control No extra download, a few favorites, and the Companion app doing the work You don't need a separate Android Auto download for Home Assistant to start working.
Sign into your server, connect to Android Auto, and open Home Assistant from the car's launcher.
While parked, head over to the app's settings, followed by Companion app and then Android Auto favorites.
A practical departure routine could trigger when you leave the home zone, require Android Auto to be connected, and check that nobody else remains home.
Android Auto can launch a script, and that script can in turn run a sequence of Home Assistant actions.