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I own an s4 and have never had this problem with the radio. You have the stock or BeSpoke radio? I have the stock and it works fine for me all the time. Things you could try would be:
1. Turn the radio off.
2. When Off, hold in volume button, should beep and open the "hidden" menu.
3. Set Car type to FR-S.
4. Turn the radio back on and reset your bluetooth links completely. Both on your phone and on the radio.
That's the only thing I could think of. Otherwise it might be something with the phone itself. take it to a scion/toyota dealership and see if they can't help you fix the problem. Good luck!
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