troubler

I'm new here, I have a 2007 Es350 with nav, but without the Mark Levinson upgrade. My question is, is there a quality aftermarket bluetooth audio solution that will allow me to use the Aux setting on the stereo and control the functions with the stock steering wheel controls? I've seen a few that use the CD function to control the bluetooth functions but find it to be clunky and confusing since I still regularly use my cd changer. Any advice would be greatly appreciated.