Basically, you can't get lossless audio from your device to the car unless you have a device that can impersonate a USB drive (or, of course, an actual USB drive). iPhone cannot do that (well, it doesnt, though it could with the right software from Apple, but dont hold your breath).
As you note, Bluetooth is going to do lossy compression of some sort (not sure if the car supports AptX or ACC), so that's no good.
OTOH, while the car has a pretty good sound system, I wonder how much difference lossy vs lossless makes, given the noisy environment. Perhaps, when parked, you might hear a difference, but I doubt anyone could really pick up much difference when you are on the move. Of course, others might (and probably will) disagree.