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That's odd. The audio output should automatically switch. iOS doesn't really give control over music audio routing, but you can manually switch the audio output via the Control Center. There's also a setting under Accessability -> Touch -> Call Audio Routing where you can control the routing of voice calls. It's normally set to Automatic and shouldn't affect music, only calls and Facetime.
This happens to me periodically as well. I suspect the car’s cpu is overloaded for whatever reason during pairing and/or media changes. I was able to fix it by changing the center instrument screen to media then pressing down on the left steering black button and selecting iPhone. It should switch from iPhone speaker to car audio.
Mercedes SLR McLaren 722 S Is Extremely Rare Example Modified by McLaren
Slideshow: A one-of-one U.S.-spec Mercedes-Benz SLR McLaren Roadster became even rarer after a factory-backed transformation at McLaren's headquarters.
