A method implemented by one or more processors, comprising: detecting a spoken invocation of an automated assistant client of a computing device in an output of a first microphone of the computing device, wherein the invocation causes the automated assistant client to transition from a first state to a second state; responsive to detecting the invocation causing a computing device to transmit, via a communication channel, an audio data stream to a vehicle computing device of a vehicle, wherein transmitting the audio data stream causes the vehicle computing device to render audible output via one or more vehicle speakers driven by the vehicle computing device when the vehicle computing device is in a communication channel mode, and wherein the audible output is generated by the vehicle computing device based on at least part of the audio data stream; determining whether the audible output is captured by at least one second microphone of a vehicle interface device within the vehicle, wherein the vehicle interface device is communicatively coupled to the computing device, in response to determining the audible output is captured by the at least one second microphone of a vehicle interface device within the vehicle: causing the computing device to transmit an additional audio data stream to the vehicle computing device via the communication channel for rendering of the additional audio data stream, by the vehicle computing device, via the one or more vehicle speakers, and in response to determining the audible output is not captured by the at least one microphone within the vehicle: causing the additional audio data stream to instead be rendered at one or more alternative speakers, wherein the one or more alternative speakers are within the vehicle but are not the one or more vehicle speakers driven by the vehicle computing device. detecting a spoken invocation of an automated assistant client of a computing device in an output of a first microphone of the computing device, wherein the invocation causes the automated assistant client to transition from a first state to a second state; responsive to detecting the invocation causing a computing device to transmit, via a communication channel, an audio data stream to a vehicle computing device of a vehicle, wherein transmitting the audio data stream causes the vehicle computing device to render audible output via one or more vehicle speakers driven by the vehicle computing device when the vehicle computing device is in a communication channel mode, and wherein the audible output is generated by the vehicle computing device based on at least part of the audio data stream; wherein transmitting the audio data stream causes the vehicle computing device to render audible output via one or more vehicle speakers driven by the vehicle computing device when the vehicle computing device is in a communication channel mode, and wherein the audible output is generated by the vehicle computing device based on at least part of the audio data stream; determining whether the audible output is captured by at least one second microphone of a vehicle interface device within the vehicle, wherein the vehicle interface device is communicatively coupled to the computing device, in response to determining the audible output is captured by the at least one second microphone of a vehicle interface device within the vehicle: causing the computing device to transmit an additional audio data stream to the vehicle computing device via the communication channel for rendering of the additional audio data stream, by the vehicle computing device, via the one or more vehicle speakers, and in response to determining the audible output is not captured by the at least one microphone within the vehicle: causing the additional audio data stream to instead be rendered at one or more alternative speakers, wherein the one or more alternative speakers are within the vehicle but are not the one or more vehicle speakers driven by the vehicle computing device. in response to determining the audible output is captured by the at least one second microphone of a vehicle interface device within the vehicle: causing the computing device to transmit an additional audio data stream to the vehicle computing device via the communication channel for rendering of the additional audio data stream, by the vehicle computing device, via the one or more vehicle speakers, and in response to determining the audible output is not captured by the at least one microphone within the vehicle: causing the additional audio data stream to instead be rendered at one or more alternative speakers, wherein the one or more alternative speakers are within the vehicle but are not the one or more vehicle speakers driven by the vehicle computing device.