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I have wifi connection problems between Android Auto and Samsung S21 Ultra. Has anyone solved it? The polo is a GTI restyle

When you say problems what exactly do you mean?
From my experience if you have a valid Vw Connect or Connect plus contract then you can use that to connect with Android Auto.
Otherwise you need to enable both your WiFi and mobile data plus both Bluetooth on your phone in order to use Android Auto.
You might also need to connect your phone by usb to the car for the initial setup.
Let me know if this helps

Samsung (older models <2022) first connection wired, after that it will couple wireless
Or look in Android Auto settings on the phone