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I've generated this for an IS250, but it'll be relevant for more models.
It's not a problem I have but I'm posting this for everyone's information.
My 2007 IS250 was pre Bluetooth so there is no way of using Bluetooth unless you modify the car, which I've done.
First I purchased 'DollaTek Bluetooth Receive Module' (Highly recommend it).
You will need to splice the AUX wires. These are the red for right speaker, White for left speaker and black for return. The plug you are looking for is the one on the back and furthest away from the round aerial sockets. Sorry I forgot to take a photo.
After fitting it I found that I couldn't select AUX on my radio.
It was after some investigation I found that you can't select AUX on the radio unless there is something pluged into the AUX socket.
So here is the info that will help those wishing to change the car to Bluetooth.
Pull the AUX socket out and open it up. (See 1st photo)
Once you've done that, just solder the two joints (highlighted) together and the radio will work without the AUX needing anything plugged into it. (See 2nd photo)