I've been using it since I switched to Android about 10 years ago, and while it took some time to get the UX right, I really couldn't recommend it more now.
Doesn't just work for me. When I'm playing a podcast on Android auto, leave the car, come back, there's no way to resume the podcast.
On every other app, there's a little floating icon in the bottom right of the screen that you tap to get to the now playing, so you can resume, but antenna pod doesn't have that.
I am sorry to hear that. I don't personally use Android Auto, so that's a situation I'm not familiar with. I am also sorry to see people downvoting your comment just because you report a bad experience, that doesn't help anyone.
I would recommend opening an issue about it on the project page in GitHub. Another advantage of FOSS apps is that developers are usually easer to reach for feedback and support, although I must say I don't have experience with the AntennaPod developers.
Sorry, I don't use Android Auto so I don't know about this feature. You could check on their GitHub page and even open an issue if there is no support.