I'm not much of a cell-phone expert, but I discovered this easy method not too long ago (like REGZTFEN). If I have my Android phone connected by cable to the USB, and Android Auto is running, I can either push the microphone icon or say "Hey Google". There is a "ding-dong" to confirm connection. Then I say "Send message to XXXX". It gives me a verbal confirmation, and then I say a short message. "I'm running late. Be home at 5." It then confirms and sends. Easy Peasy.
This is on our '20 Soul LX. We ordered a '22 Seltos LX AWD in early November. It appears the two systems are very similar. Hopefully our car will arrive this month!