I've seen that happen before on iOS. A simple restart fixed the issue.

 

Restarting both phones did not resolve the problem.

MotionMan

 

I have the exact same problem between my 2015 RX350 and my i-phone 6.
When I try to play radio/CD, the screen will display "call in progress" and not allow any action.
I have make a phone call from my cell phone in order to "unfreeze" my media center and play the radio.
This only occurs intermittently, but it happens frequently enough to be annoying.
My car has been taken into Lexus twice to repair this problem, and they have never been able to fix it.
My car is only a few months old; I bought it from that same Lexus dealership, used with 14,000 miles on it.
I'm ready to file a complaint through the National Center for Dispute Settlement using their lemon law/arbitration forum (which is a free service).

Has anyone had any success dealing with this issue?