No brainer. Whichever of the Parrot units suits your requirements / budget.
I have a Parrot 3200LS unit fitted to my Zafira. It was a doddle to do, and the aftermarket adapter loom to integrate the beast into the existing ICE setup didn't cost much either. Does everything and works with every handset I have tried it with. Ludicrously simple to use too. Handles multiple devices configured at once, automatically attaching to the highest priority one it finds within range. Downloads the phonebook from the attached device automatically. Supports voice dialling in itself or will use the service on the attached device if it has it.
They seem to make just about every possible solution, from standalone sun visor/fag lighter plugins right through to complete ICE replacement head units[1].
Can't recommend 'em highly enough. Personally I reckon that every car manufacturer should go out and buy one to find out how a Bluetooth system should work. Count yourself lucky that you didn't get the factory fitted version in your Avensis, Toyota's offering in this area is truly ruddy awful. My fleet car's a Prius and the one thing I really curse about it is the phone system.
[1] Although early models of the head unit they make had reliability problems. I believe they too are sorted now.
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