If a customer complains that the touch screen doesn't work while in Android Auto this is by design. Mazda's philosophy is that touchscreen interfaces distract the user too much from driving.
While older Mazda's had a touchscreen interface that only worked when standing still, newer generations like the Mazda 3 >2019 and Mazda CX-30 do not have touchscreen interface at all.
As for Android Auto, they actively decided against using touchscreen capabilities inside it, even if the car supports it.