sumukh_kulkarni3 Hello fellow Nothing user, I too have been “plagued” by the same issue you described in the beginning of the topic (Waze/Maps freezing at random time intervals while NP3 is connected to Android Auto) and it seems that the latest update fixed it (finally) but there is apparently another problem - the one that you described here - Android Auto is disconnecting and reconnecting on its own.
Today I found something that fixed this (bear in mind that I have never used a WIRED connection to my car, only WI-FI/BT, and I have an aftermarket carplay/aa module connected to my Audi MMI). Went into Carplay/Android auto wi-fi settings and changed the Wi-FI channel, rebooted and for a 3 hour long trip there were no disconnecting/freezing issues. I hope this helps you or others in some way.