According to the info on the website (see link below), a smartphone with Android 5.0 or higher is required. The Nokia 6.1 has Android 8.0 and should therefore work (at least with a USB cable, for a wireless connection a Pixel or Nexus 5X/6P is required). Since I don't have a car that supports Android Auto, I can't test it.
https://support.google.com/androidaut...