My 2012 ES 350.... Setup 2 bluetooth devices - mine and my wife's iPhones. Works great for calls - synced contacts - no issues.

For music streaming, I had to set it up separately (which was a bit interesting) - but only my phone works - which is the first one I setup. And, I was not able to add another phone for music streaming (note this other phone is already working well for voice calls).

When I go to Music Streaming bluetooth setup, I can see my phone listed, but no way to add another phone.

Does the A2DP music streaming on a Lexus 2012 ES 350 work with only one phone?