I have similar issues with my new highlander. iPhone 12 connects using Bluetooth but when I play music, it drops after a few seconds for any reason. Such as hitting a bump or a message arriving on the phone. It didn’t have an issue the other day with a call. The song shows as playing on both device and head unit. I mess with it, press play and pause repeatedly and sometimes it will start playing again. Or start over with a new list. Or just switch to the radio 🙄 or Sirius free trial.