chbow

Hi, I have a 2007 ES350 with nav and ML and would like to play music off my iPhone and iPods ( I know this has been discussed in older threads but I'm still unclear and also would like views reflecting updated products, still if I should not have posted here - sorry just let me know). Currently I am using a cord that plugs into the aux and charger from the usb port of the iPhone, but there are a few issues I have:
1) That charging buzz that seems to have been covered by a TSB but my basic warranty is up (I just got the car)
2) I'd really like to be able to control the songs from the cars' audio screen
3) I'm reasonably handy (not too scared of an install) and also reasonably good at internet research but am having a bit of trouble seeing which products do what: Vaistech, Lexus interface kit, usa spec PA20-TOY etc.
The options I've seen include those as well as I suppose just plugging a bluetooth audio receiver into the aux input. I'm really not concerned with video playback from my devices but I really like what seems to be the vaistech ML+ interface yet I'm not sure if it's worth spending $250 more than my other choices for that. As you can see I could really use some input from everyone on your experiences as well as advice. Thanks