According to the latest information, the Waze update seems to fix the freezing issue on Android Auto. The latest update was rolled out with version 4.92.0.1.
Several users reported that in Android Auto the Waze freeze problem randomly appeared. Some users saw this occur during startup, while others would see the map working properly, but their position not moving and directions not working properly. So to fix this all you need to install the latest update.
This update and others released over the past few weeks have not yet fixed one of the glaring issues with Waze on Android Auto.