I ran into this same problem on my 2015 RGS. It took me forever and a day to figure out the best configuration. In the end, I finally found a techy sales guy at the dealer explain it all to me and tell me the best work around. I already had a Sena headset, but was ready to pull the plug on the harley hard wired system to make it work. Instead, I had the bike forget the phone bluetooth and ran the phone through the USB for music and charging, then used the phone through the BT headset for phone calls and such. It works really well and I can switch back and forth if I want the music in my ear or if I want it on the bike speakers. Only thing that does not work is the PTT on the bike, which after everything else is just more distraction.

 

You're still missing the ability to use voice commands with your setup.