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Help Toyota Corolla 2011 Bluetooth Pairing

I have a Toyota Corolla 2011 with bluetooth available. When I had my Droid RAZR, the bluetooth worked just fine. After getting the Droid 4, I have to do the whole process of pairing my phone everytime I want to stream any audio. Does anyone have ideas of why this is happening and how to fix it?

My phone doesn't auto-pair, so I have to use the voice commands to select and pair my phone manually. It's getting really annoying since it takes a couple of minutes to finish.
 
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