Auto connect to car audio issues

[msjulian]

I have an iPhone 6s and a Pioneer AVH-X3800BHS in-dash unit with Spotify control. The iPhone and Spotify app sync up to the in-dash and play fine. The issue is every time I turn on the stereo I get a message on the phone that "Spotify wanst to communicate with the reciever" and I have to press "Allow" for it to play.

Is there a way to auto connect without have to interact with the phone?? I can not find a setting any where that allows auto connect.

It is very cluncky having to pull the phone out to get it to connect. My Andriod did not have this issue and connected without having to do anthing.