Phone not connecting first try

I've noticed this the past few times I've tried to make a phone call with Android Auto. The phone will say it's dialing, but there is no dialing noise. If I hang up and try again, it works. When I finally reach the person I was calling, they said they did receive the first phone call but noone was on the other end. Has anyone else experienced this? I have a Nexus 6p and a 2015 Hyundai Sonata.

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