Streaming Bluetooth audio without that capability in OEM nav

[First 4Runner]

Not exactly. If you have your factory head unit set to radio/FM, you don't/won't hear the audio coming in from the aux in port. So, in that scenario it is pretty much one or the other.
That said, there is nothing preventing you from using a radio app on your phone and streaming that via 'aux in' to your head unit. In this scenario, your phone would automatically mute your music if/when the phone rang, you'd hear the beeps and bloops for text messages if you want, at which point you could answer/respond/etc.

I use mine to stream music and occasionally stream the voice prompts for GPS.

Thank you.

 

[thegame7]

Same setup here, I love it.

Same exact setup I have too. I’ve now installed it on 4 different cars I’ve owned and it works great in Toyota vehicles, it was a little funky in my Acura but that was one of the reasons I sold it haha. If someone calls, the 4runner Bluetooth picks it up and when the call ends, it goes back to music. Seamless!