HRC400

I own a 2013 Lexus RX 400 H. I am having trouble with the bluetooth feature using voicemail. The phone is paired to the car and I can actively make outgoing and receive incoming phone calls through bluethooth without a problem. I have a Samsung Galaxy 6 phone. The issue is that I can't listen to voicemail through the bluetooth system. If I attempt to listen to voicemail on the phone while the phone is paired and the car is running I don't get sound through the phone to listen to the voicemail either. So the only way I can listen to voicemails is to turn the car off. Any help would be greatly appreciated. Thank you!