ok so my mom drives it, and I've tried helping her. Her car allows phone calls and audio to go through Bluetooth. I have connected her phone multiple times due to only phone calls working and music media will only stay connected for the time until the car is turned off. Is that normal and if it is it's really annoying feature. I know in my ls430 once I'm hooked up it'll connect to my phone automatically. My uncle has a 2010 es350 and he doesn't have this problem. My moms car is probably the basic model cause no nav screen.

 

I had a similar issue and after updating my phone, the problem went away.