Not sure if this is an issue on the 4s or any other model. But I've noticed that while watching any kind of video (not while driving of course, while parked waiting) there is a sync delay between the audio and video. This is with Bluetooth and ios 6 on the nav unit with 10.1. Anyone else have is issue?
Does it repro with other Bluetooth A2DP streaming devices (e.g. headsets or speakers)? For my previous job, we unfortunately disabled A2DP audio streaming when playing video on our (smartphone) product supposedly because there's no provision within the protocol for synchronization. I don't know if this is actually true (it wasn't even remotely close to my area of responsibility, it was something I ran into) or has been remedied via protocol updates/improvements. And yes, I knew the iPhones of the time streamed it anyway.
I have the same issue! It lags about 1-2 seconds behind. This occurs when playing apps, video, etc. I also have the iPhone 4s and from what I see other people with other phones don't have this problem :-/
I have the same problem as well. 4 different Iphones (4, 4s and 5). All lag a couple of seconds on Bluetooth, playing apps like Netflix or just music. When the software update came out for the Prius I thought it might be fixed but not so.