Playing Music on Samsung Phone

I currently still use a IPOD (yes, it's alive and healthy) but I'm now at the point where I want to retire it.  I have iTunes one my PC (running Windows 10).  I can add songs to my PC and then sync them to the IPOD.

Here's my goal: make my Samsung android phone do the same thing.

Has anyone out there done this?  Do you have a favorite way to do this?  The internet certainly offers solutions from simple file transfers between PC and phone or a 3rd party app on the phone to 'imitate' iTunes but I believe those cost.

I'm not opposed to buying an app.  I'm just looking for the best way to sync songs between my PC and my phone.

I have an additional question around this.  My car, a Honda, uses Android Auto.  Right now I can launch Waze on my phone and play the radio.  When Waze needs to give me a driving instruction its voice overrides the radio.  If I'm running Waze AND this new music app on the phone, will it act the same way?

Thank you for your advice.