Custom actions should be adding through PlaybackState and addCustomAction()
https://developer.android.com/reference/android/support/v4/media/session/PlaybackStateCompat.Builder.html#addCustomAction(java.lang.String, java.lang.String, int)
Important point, there is flags to indicate to auto if main page controller should keep empty space when "next" and "previous" are not enable.
private static final String SLOT_RESERVATION_SKIP_TO_NEXT =
"com.google.android.gms.car.media.ALWAYS_RESERVE_SPACE_FOR.ACTION_SKIP_TO_NEXT";
private static final String SLOT_RESERVATION_SKIP_TO_PREV =
"com.google.android.gms.car.media.ALWAYS_RESERVE_SPACE_FOR.ACTION_SKIP_TO_PREVIOUS";
that you add at your MediaSessionCompat with setExtras() method.
With flags, custom actions are added in a second screen that you acceed in swiping main Auto audio meta screen.
With no flags, custom actions are added next to Play/Pause button.