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Looking at the Pioneer website, it looks like it will only play video from USB. As you can't watch video or YouTube via Android Auto you may be able to set your phone to use USB for file transfer so that the headunit treats it as a USB drive.
• Your iPod, iPhone, Android Smartphone
• Bluetooth audio

Via USB:
• MP3, WMA, AAC, WAV and FLAC audio files
• H.264, MKV, FLV and MPEG4 video files in Full HD
• Mpeg2, DivX video files
• JPEG image files
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