I can't get the phone book to sync, out going and incoming numbers sync all without names. I can take a call, but only see a number. I didn't have a problem with my older A5. This S21 is the problem. The car is a kia ceed
Try wiping the car's phone book, forget the connection on your phone and start from scratch. It is possible your BT unit may need a software update but having said that my S21 Ultra works fine in my BMW M4.
