Agreed, the auto start of bluetooth audio is a pain. Took me awhile to figure out what was going on. If found that in my case, if I leave the phone plugged into the usb port and turn off the engine, when it starts up again, the bluetooth audio starts, but after switching to sync > usb, the audio can't be heard. I think there is a away to redirect from BT to Connector, but that takes navigation of the iPhone.
The workaround that I use is simply to unplug the iPhone from the usb port each time I leave the truck. Upon return and starting of the engine, bluetooth audio starts automatically. Then I plug the iPhone into the usb port and via the media/voice switch sync to usb. Now I am able to use voice commands to control the iPhone.
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