I had the same problem with my iPhone and MyFordTouch, incoming calls would go to privacy setting turned ON and I would have to use the iPhone to talk.

I had the iPhone setting for incoming calls to answer to go to "Speaker", but having this setting caused the MyFordtouch to go to "Privacy" for all incoming calls.

To fix this on the iPhone, go to <code>Settings > General > Accessibility > Incoming Calls</code> the settings available are "Default" "Headset" and "Speaker", mine was set to "Speaker" and when I set it to "Default", all incoming calls were answered in MyFordTouch with "Privacy" turned off.

Solved my problem! May solve yours.