Android Auto on 2006 Tundra

There was a post a while back on one of the forums to install Android Auto on a Raspberry Pi and connect it via the vehicle's diagnostic port. I have a 2006 /Tundra so obviously cannot connect via the phone app or wirelessly, so this may be my only option - but I cannot find any info (everything I'm finding is late-model stuff). Does anyone have info on how to do this? Thanks in advance!

 

I take it you don't want to replace the headunit and go aftermarket? If you do, there is a thread over in the First gen section with what double din touchscreen radios folks have installed on their first gens.

https://www.tundras.com/threads/touch-screen-head-unit-whos-got-what.65309/