What you are experiencing isn't normal and should be handled by the dealer. I have successfully paired the following:
Samsung Galaxy S3
Motorola Droid X
Motorola Droid Razr Hd
Apple Iphone 4
Currently my razr hd has priority so when it is present it will automatically pair when I start the car. If one of the other phones is present instead, they will pair.
The Iphone 4 is my son's phone and he indeed did receive the ios7 update, so I can say it is working.
I'd also suggest going to another dealer and depending on the service you get, use them for your other visits.
Mods (2005 C): Stereo only, PAC SNI, Peripheral CHYX, XM Commander, AudioControl four.1, MTX TA5604, MTX TA5601, Polk MMC6500, Polk MMC690, JL CS212R-W0 (2013 C): None..........yet