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Recently I have been having this issue on an iPhone 5 with the most current software.
When I call out through the hands free bluetooth everything works fine, but when someone calls me and I pick up from the steering wheel button the call can't connect. The only way for it to work is for me to pick up the phone call through my iPhone 5 and then switch it over to "carmedia" through the iPhone 5 for the handsfree bluetooth to work.
I thought maybe it was a problem with my phone, however I don't have this problem with my other cars, just with this 2010 RX350.