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What software version do you have? (hold the 'car' icon for 10 seconds to find out).
 

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I'm on an older version, 5.2, and that also has the bluetooth lag or poor 'latency' as it's known. Unless a newer 5.x software update fixed it (someone here should be able to confirm?) then I think it's just poor design of the headunit.

Mine crashes a lot and restarts itself often, so I plan on swapping my unit out for one of the newer NAC headunits which have improved software, Apple CarPlay support etc.
 
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