This is trivial, I know! So please only read on if you're bored.
This is one of the mistakes by the engineers. Turning on the massage seats (which my wife and I love) while connected to Android Auto should return to the original screen after the massage seat settings screen goes away. Let me explain...
I typically run Waze via the Android Auto app. What I like is that Waze starts up automatically when I plug the phone into the USB-C cord. What I don't enjoy is when I press the center of the plus button on the side of my driver's seat, the massage screen takes over the entire center console. When you back out of massage screen or let it time out, Waze showed up minimized. Making you have to open it back up. Frustrating and trivial, I know.
But I found a trick. When in reverse (backing out of the garage), my wife and I can turn on the massage seats without Waze minimizing or the massage screen showing up. The reverse camera seems to cancel out the problem.
It doesn't work when your wife wants to change her massage settings while driving though.