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Yeah, this is pretty irritating for sure. I think it's to prevent owners from plugging a phone into USB, then accidentally still selecting to pull music from their device over Bluetooth Audio and wondering why certain USB-only features like library browsing still aren't available. But the best workaround is either to use a separate charger as another person mentioned, or map an iDrive shortcut as close as you can get to your phone's Bluetooth options, which will probably be the "Bluetooth (music)" option under Multimedia > External Devices. Then you just have to go into Bluetooth options, check the Audio checkbox again, and off you go.
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