navigate to contact from phone?

I just got my Prius Prime and am exploring the features. I have linked my phone via Bluetooth and it asked on the phone for permission to read my contacts, which I gave.

I am wondering if there is a way to use the navigation system to go to an address stored with a contact on my phone? I couldn't find it in the manual so I'm guessing it isn't possible, but I'm hoping I've just overlooked a way to do this.