Sorry for English but I do believe many of you knows well it.
Is it your Iphone still sync contacts to DCU over bluetooth? I think after some IOS (mine recent for today 13.6.1) update it stopped working.
I get "You may need to allow phonebook access on your phone" but there is no such option in Iphone contacts or under "Toyota Touch" bluetooth.
You can notice this only if enable messages about this in setup.
Call history, SMS work fine. Android also ok.