How to update the older bluetooth in my car stereo to work with the new iPhones?

I installed a Pioneer FHX700BT stereo into my 1997 Lexus es300. It's an awesome stereo, with one of it's best components being bluetooth connectivity geared towards apple products. However, I installed this stereo two years ago now, and it's time to get a new iPhone. My 4S works perfectly with the bluetooth, and connects upon startup automatically. However, every new apple product since then does not pair with the bluetooth in the stereo no matter what I do. I believe it is because new versions of bluetooth probably came out in the phones that obviously aren't in the stereo. So, I'm wondering if anyone knows a way to update the bluetooth in my car so that it works with apple products since the iPhone 4s, specifically the iphone 6.

In a worst case scenario, the usb connection works fine with all apple products, but obviously bluetooth is more convenient since I can control the phone through the stereo with bluetooth, which I can't do through usb.

I don't know man sorry

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