How Do I Format a USB Drive To Play Music In My Car?

I use a USB drive to plug into my car’s USB port to play music, audio books, etc. in my car. How should the USB drive be formatted for this? I use DisK Utility, and under “format” I have several options. One is MS-DOS (FAT), which I think is the correct choice. Under “scheme” I have 3 choices, and I don’t know which to choose; GUID Partition Map, Master Boot Record and Apple Partition Map. Any additional information that can help would be appreciated. My car is a ’14 Ford Escape and I believe my SYNC is current. Thanks!
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Jack Weibel