6.1.0 is eating up all phone resources, navigation is lagging

ABRP is eating up all CPU and memory resources when driving long roads, rendering the phone unusable.
We drove about 500km, we had configured the route to avoid toll roads which took us to lots of side roads implying turns every 5 to 20km.
Most of the time this makes the phone useless. I was driving and my wife wanted to change the playlist in Deezer and send a Whatsapp message, this deemed to be impossible unless we stopped ABRP. The phone is getting very slow, the navigation starts lagging: e.g. we were instructed to take a left turn but we had already drove by the intersection for about 1km.
Closing other apps does not help neither.
Phone is a Samsung Galaxy A53 5G with latest updates.
Android Auto was running and we also had ODB connection.