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hmm....maybe it 's your device. My Iphone bluetooth fidelity is great! Maybe it's the FM antenna but when I listen to i-heart radio via my phone and bluetooth stream to the car, it sounds 10x better than the radio from the car. For this reason, I'm always streaming i-heart radio or Pandora on the phone and bluetooth it to the car.
The quality of the stream is quite good from lexus. I was test driving the new 2013 GS350 and the dealer was playing music from his bluetooth. I have a little video where you can hear it.