I have streamed a Note 2 to a 2013 Mercedes and Lexus in stereo. I verified this because I adjusted the panning / balance. In an older Lexus I use one of these and it works perfectly with Note 2 / iPhone 5:
Miccus Mini-jack RX: Bluetooth Music Receiver
Auto on, auto connect, small, cheap, loud and quality audio. I can't say enough good about it.
Sorry, can't post links.