When using Waze over Andoid Auto, it blocks selections until you stop the vehicle. It is rather irritating as it is possible to use Waze if I disconnect from Android Auto, select address on the handset and reconnect, which requires 5x as much distraction.

It is OK to warn to watch the road instead, but it should release the further selection after a while like the phone app.
The most irritating is when I have just reached the desired
address and you mask it with the blocking warning :(
I advise that you unblock the screen after a while (10-15 seconds).

Also there should be an option to enable entry of address by the passenger without disconnecting the phone and passing it over to them and then reconnecting to the Auto.