Yes, I had the same thing, tried to find a solution but failed.
I also found it crucial for smooth running to have the ipod connected BEFORE you turn the ignition and then disconnecting after turning the ignition off.
Another top tip is to not expect miracles from the system and to use it below the maximum. For example, voice commands can go wrong, just use the controls on the steering wheel. In other words, get to know its limitations.
I find it excellent and have very few issues with it.