I use it by plugging the phone into the USB port in the armrest, then it allows you to set up Android Auto. I would assume that is standard with the MMI? I have a 2017 Premium Plus with the B&O sound system.
2016 MY doesn't support AA or Carplay. (I have the 2016). Bummer for sure as Audi started charging for downloaded map updates, so the nav system is useless. I just use my phone.