It probably has to do with Bluetooth “profiles”. According to this (
http://origin.static.mitsubishicars.com/pdf/owners/owners-manuals/P01550.pdf), it looks like your car only supports The Hands-Free (HFP) and Phonebook Access (PBAP) Profiles. According to this (
https://www.devicespecifications.com/en/model/4c9352f1) your phone supports the Advanced Audio Distribution Profile (A2DP).
A2DP is the newer better profile for Audio and Calls, so I’m not surprised that your headphones support it, it’s rather odd that your car from 2017 doesn’t support it, but instead uses the older HFP. (Car manufactures are notorious for being way behind in terms of infotainment and mapping)
I “think” Bluetooth profiles are a function of software, is it may be possible to use an App to serve as a bridge for your car allowing HFP.
Another option is that the Headunit in the car looks like a standard Double Dinn sized infotainment system. (If it’s the model with the screen). You can pick up after market headunits with better bluetooth and even Android Auto support.