Problem with Samsung Note Edge and 2010 prius bluetooth

I'm having an issue with my Samsung Galaxy Note Edge phone and 2010 prius 5 bluetooth and need to pair the car audio on my phone everytime the car starts. Brought to a dealer today and they reprogrammed and added the phone again but after that when I started the car, now it's been saying that blue tooth connection is successful but when I go to BT tab to listen to my music it shows as not connected and when I select to connect it just says forever saying "connecting" but it never does unless I go to my phone and click pair with the car multimedia. And I have to do it every time the car starts which is so annoying. My previous phones, iphones, note 1 and 3 never had a problem like this and just got connected themselves automatically as soon as the car started. Has anyone here had the same issue with Bluetooth staying connected?

 

SAMSUNG-SM-N915A ?