Thank you for this. Fixed my issue as well. Couldn't text with voice commands because no contacts in the system.Ok...I think I found a fix. On my Samsung phone under Settings I selected Developer options, Bluetooth PBAP, Bluetooth PBAP version, PBAP 1.1, then Apply. I connected to my car and contacts now sync. What is strange is when I switched it back to PBAP version 1.2 it still syncs the contacts. So, by toggling this option it seemed to fix the issue.
I don't recall how I enabled the developer options. I know you can google it.