I followed thread regarding iphone and Android phones having problems connecting. I was having the same issue. By accident I found if I put my phone in a drink holder or back in the central console BEFORE turning on the ignition it connects every time.
Bizarre. BT antennas aren't usually that directional. My phone had connection issues for the first couple of weeks, but now it and the car are happy with each other. I can even have my phone in my left hip pocket and it'll connect and play music just fine, probably irradiating the **** out of my arse at the same time.