Android Auto "Got it. Let me get some more information so I can help you with that."

I received this error message when asking Android Auto to text "Dad."

 "Got it. Let me get some more information so I can help you with that. Tap the notification on your screen." 

Something very close to that. The problem was there was no notification on the screen no matter how many times I tried. It dawned on me to tap my voice command button in the search bar on the home screen when I wasn't attached to the car. I got a similar message, but now it asked me to setup Google Assistant. Interestingly, I could ask it to text a specific number, not a name, and it would do that. So it was having a problem accessing contacts. 

I loath Google Assistant and it basically taking over my phone, so I have long had it disabled. So, I figured out how to restore just permissions to my contacts. 

I opened Settings -> Apps and scrolled below the app list to "Assistant." On the next screen, scroll down a mile to "Your Data in the Assistant." On the following screen, scroll down to "Contact info from your devices." Select that then on the NEXT screen toggle it on. Problem solved!

I don't know if I manually turned this off at some point or if I denied access to another app that updated Assistant or just an update did it. Either way, I hope this helps someone.