Finally was able to get 2010 Toyota Highlander to connect with hands free. Didn't have to do voice command. I went through screen display, to telephone, then bluetooth. Had to connect on and off--- had bluetooth on samsung off, then turned on. My samsung galaxy s5 (yep s5) was connected before and couldn't figure out why the 9 wouldn't pair. As I went through above steps, my memory was jogged that this was the route I had to take with the 5. But, because so long ago, I forgot. Hope this helps. I also found YouTube that reminded me. Toyota Highlander Buetooth Set up from Crystal Toyota.
... View more