Apple could fix this problem if they cared enough. However, I think it's up to Mazda or other companies to keep up with tech updates as their cars get increasingly loaded with technology based systems. I tried all the tricks and workarounds, but had no luck. That makes me mad since I've got a fairly new iPhone 5s, and a new Mazda CX-5. How, they don't like to play together. It might take enough people leaving Apple for Samsung due to this issue (making sure they know this is why) to make Apple do something about it. However, i feel too invested in Apple stuff to switch at this time.
Anyway, I just stumbled upon this:
http://infotainment.mazdahandsfree.com/howto-findaphone?language=en-US
EVen though it's labeled as 'pairing' and 'handsfree', if you put in your phone and carrier info, it lets you know all of the compatibility between the Mazda and the phone. After doing this, it's obvious that my phone's only USB compatibility with my car is to charge. This is not okay, as the Mazda salesman told me all about how I could have SMS access on the system. It even says on this site that Bluetooth doesnt allow repeat or shuffle - the later which is a joke if you have over 5000 songs on your iPhone.
The Mazda tech help people are either morons or liars, as it's clear that there are many compatibility issues with Apple products. Both Apple and Mazda could figure out how to fix these issues if they'd work together. I'll consider switching phones long before cars, so I hope Apple can get things figured out so I dont have to dump them.
I this info is useful to others in a similar situation, who also didn't have any luck with workaround tricks.