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wasn't working for me either in 5.1.1. The dealer updated some firmware (not the one you can do yourself) and that fixed it. In the mean time I upgraded to iOS 6.0 and it still works fine.
What I experienced before the update was that I couldn't answer, on the steering wheel, the first call that came in (when I didn't place call first myself). Answering a second and subsequent calls worked fine. Ending the first and subsequent calls worked fine.
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