So, I finallly made it. Got myself Android Auto and installed the latest Here maps.
My Kadjar was delivered in May 2017, but produced already in October 2016. A showroom car with a hefty discount. But no Android Auto. And my free subscrtiptions on Tomtom Traffic and maps expired in May. A five year warranty still valid. R-link2 version 2.2.19.300
I started with AA. Hesitated to do the necessary upgrade to version 3 (as described here) myself, since there were reports of breaking the unit. So I asked the dealer, if they would do an upgrade to the new version 7 for me. I claimed that the navigation was reacting slowly when entering addresses (which is true). They agreed, but wanted to keep the car all day ("must discuss with the technical guys in Poland"). So in the evening, I got the car back with R-link2 version 7.024.161. They had also activated "Digital Pack", as the Digital Services are now called, for another year. All free of charge (under warranty). That was Monday and of course I had to go through the whole R-link to get my preffered settings back. A few new ones too. Everything seems to work as it should.
So, next step was to activate the Android Auto. I have bought an OBD2 from China, but decided to first try the developer´s mode, as described in the forum. I downloaded the Debug file to a USB stick, went to the car and followed the instructions (multimedia-settings-photo) and pressed once in the upper corner of the square on the screen and 11 times down (there are films on You Tube showing exactly how-to). Only on the 5th try I succeeded. Developer´s Mode openend up. Scrolled down on the right side to the Project Android Auto, pressed that square that turned green, exited Developer´s Mode and made a hard reset..
I connected my phone, that has Android 10, so Android Auto already built in. The R-link2 and the phone asked me to accept various conditions and "voila" - there was an Android Auto button on the main screen. Both Google Maps and Waze work perfect on the screen as does connecting to internet radio or Spotify.
The next project was to download the latest Here maps. I followed the instructions that are linked above in this thread. Installed the patch file to open my version of R-link2 for unauthorized maps. Took a couple of minutes. Then I installed the Sku-creator0.5.1 on my computer and followed the instructions for updating just the Lithuanian map (where I live) to Here 2019Q4 and include the latest Tomtom POIs and radars. Extremely quick and easy. No technical knowledge whatsoever needed. It took just a few minutes to install the map in the car. I checked the list of maps and the Tomtom map for Lithuania was now substituted with the Here 201912 map.
To sum it up. Not difficult at all and I am more than pleased with the results. Any questions? Just ask.