Pioneer DEH-P7000BT autoconnect not working iphone 6s IOS 9.3

Just switched to iPhone , this is lame.

Pioneer DEH-P7000BT which has worked for years with my old phone (different OS) will not autoconnect bluetooth audio.

Phone portion autoconnects, streaming audio does not. I commute alot, use this feature a bunch,

I see posts from 2013, but I dont see a solution.

Any ideas?,

Its not acceptable to delete from both and manuallly pair every time I get in the car.