I can't use the phone when it's in the cradle
One thing I have noticed is that if Audible is playing on my phone, or was the last thing playing, then it'll pick up from where it left off when I get in the car when I get in by just going to media - well actually by doing nothing most of the time: it just starts playing when I switch on and plug in
It's a bit ham-fisted and I have no idea how to get back to it if I play some music but it's a start. Apparently, there will be proper Audible support with a future iDrive software release
I read that on here somewhere