I haven't tried navidrome, but my only gripe with jellyfin for music is that I can't find any non-subscription apps that work with android auto (if someone wants to point at one, let me know!)
I know jellyfin itself at least used to have android auto compatibility, but it was absolute shit and didn't have even some of the basic music controls when I tried, and I am unsure if any version of the app still has that even.