Users who have recently updated Google Maps may encounter an issue with the Color Scheme not switching automatically when using Android Auto.
Theoretically, by setting up Google Maps and Android Auto, users can realize three Color Scheme modes for Google Maps in the Head-Unit, namely Auto, Day and Night.
However, after many users updated Google Maps, the color scheme has gotten out of control. Some users have the map stuck in night mode, others in day mode. Whichever mode is blocked, it poses a security risk. If it runs in night mode during the day, users may not see the map clearly. If it runs in day mode during the night, it can be too distracting.

The cause of failure in automatic switching
According to feedback from many users, it can be confirmed that Google Maps itself is the culprit behind Google Maps's night mode not working on Android Auto. The most problematic Google Maps versions are 11.33.0 and 11.33.1. Anyone using these versions is likely to be stuck in either Dark Mode or Light Mode.

The solution
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Reset Google Maps to factory settings.
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Remove Google Maps and reinstall an older version
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Turn headlights/dashboard lights on and off
If you've configured everything to automatically switch color schemes, turning your headlights/dashboard lights on and off will cause Google Maps to switch to the correct mode. However, you'll encounter the same problem every time you use Android Auto.
Conclusion
In the Google community, a member of the Android Auto team said the issue has been forwarded to the team, but did not say when a fix will be available. Hopefully, the issue of Google Maps' automatic day/night mode not working on Android Auto will be resolved in the latest version of Google Maps.

