IOS 4 compatibility with Mercedes Audio 20 / Audio 50 / Command

Has anyone tried to plug an iOS4 iPhone (3G, 3GS, 4) into one of the aforementioned systems? (Cradle or MultiMedia Interface)
I'm nervous that after the upgrade I wont be able to listen to music and browse folders directly from my steering wheel.
I'm willing to find a guinea pig to test it on mine. I'll let you know ASAP.
Cheers

I upgraded to iOS4 today and it appears to NOT be compatible with existing bluetooth software/cradle combinations for Mercedes.
The phone numbers do appear on the radio screen.
The contact names NO Longer appear on the radio screen.
It is not possible to scroll through the contacts lists either via the phone control panel on the dashboard or via the steering wheel hands free system.
Anyone have any ideas on software resolutions either via apple or Mercedes?

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