pruth_we, I have a 2013 G37x with an iPhone 5, iOS 7, - 7.0.3 with no problem (except a small one with BT Audio not always transmitting info to screen and no up/down control if did not start car wih BT Audio selected). No problems at all with calls or with actual transmission of music through speakers. Even able to use Siri if reach and pocket and hold down button. Comes right through BT. Note, I play music uploaded to phone, as well as via the Pandora and Iphone Radio apps without problem (as long as I have a good signal for the latter two). I do have a problem I have yet to figure out with iPhone radio where I turn the car off at night, and sometimes, no idea why, in morning, it starts to play uploaded music instead of the station I was last on (fortunately, Siri can switch back my station if I ask - could be an issue with an iffy phone signal in my driveway, not sure).
Note, when 5 first came out did have BT issues. These were solved by a combination of an iOS update AND Infiniti software update. Took 10 minutes at dealer. Not sure if update applies to 2010, but my recollection is that it does. You may want to contact dealer see if this helps. Also, some people have solved BT problems by unparing phone, renaming it and pairing it again. This never worked for my problem. Good luck with it. I know these problems are a pain and both sides will point the finger at the other. -John