My phone used to connect fine through Bluetooth, but now when I pick BT Stereo, I get this prompt and when I select my phone, it disappears but nothing happens. It’s still not playing or connecting. If you look in the upper left, my phone shows as connected, but it’s not working. I’ve tried disconnecting and reconnecting, but no luck. I have a 2015 model, if that helps. 
Please let me know if there’s a way to fix this!
Maybe try deleting your phone from the system and then reconnecting it. That might help reset things.
I’ve got a 2016 Ford Escape, and I had the same issue. Turns out I needed a Sync update, which you can do through the USB port with a jump drive.
This kept happening to me since I got the car in 2016, and it would fix itself after a month or so but would come back. I learned about the USB update last year, and it’s been working fine since.
Here’s a link on how to check for Sync updates: https://www.ford.com/support/how-tos/sync/sync-updates/how-do-i-check-for-sync-updates/
Did you check if there’s an update for Ford Sync? My Android Auto was having trouble staying connected and showing my GPS on the display. I found out there was a new Sync update I hadn’t downloaded. I connected my car to my house WiFi and downloaded it right from the infotainment system. After the update, Android Auto worked perfectly again.
Look up how to factory reset the head unit. It’s buried in the settings menus. I used to reset mine every couple of months and then reconnect my Bluetooth devices. When my phone wouldn’t connect automatically, I’d reset it, and that usually kept everything working smoothly for a few months.
Try searching for “sync” on this forum. There are 1,405 posts with tips on what to do.
Mine got messed up too once. It’s a different Sync version than yours, but I just pulled the fuse and put it back, and it started working again.
I’ve had that happen too, where I’d turn on the car and the navigation would show up, but then disappear after a few seconds. Haha, pretty annoying!