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I am able to use my S3 with iDrive on my 2012 328i fine, but there are a few irritating quirks. One of them is that the 'received' calls history on the iDrive displays the numbers that called me, not the corresponding contact name from the address book of my S3.
On the iPhone, the received call lists the name of the contact as long as the contact is in my iPhone's address book.
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