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Well I see when IOS9 came out yesterday it added an option to pair my iPhone6 to compatible cars equipped with carplay. It didn't work on my 2014 GS. It would be awesome if Lexus offered an OS upgrade for my infotainment system, but I'm not holding my breath.
It is under settings-general-carplay if you want to try.
It won't work. Toyota doesn't believe in partnering with apple or android right now and implementing them into their cars. Toyota still has the delusion that they can do a better job at infotainment than them.