personally i use a bluetooth headunit and i love it since it cuts off the music and plays the received calls through the car speakers.
alternatively what you can do is purchase a cigg lighter usb charger for the iphone (prob $10 from ebay ) then purchase a bluetooth visor speakerphone, these range from $40 - $120, again price reflects quality... basically you only have to charge speakerphone once every few weeks if you dont use it often, and whenever you get a call from your phone it will transfer directly to the speakerphone and you can take it from there, completely legalonly downside is that you have to mute your stereo each time you do that
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