Problem with RX audio connection to iPhone

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I have been having this problem for the past several months with my 2015 RX350 audio system. My iPhone 6 connects to the system, phone works, etc, but when trying to stream music from the phone (iTunes), the RX cannot see the list of music. If I select something from the phone it plays through, but try to select something from the RX and it sees nothing. Dealer has been no help. See attached photos. Any ideas?
 

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Ian Schmidt

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For me, navigating the music/podcasts from the car has never worked over Bluetooth (to the point where I'm not sure it's supposed to), but it's 100% functional if you plug the phone in with a USB cable. And of course that has the benefit of charging the phone too.
 
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