Good news! I may have found the source of the problem of this iPhone startup inconsistency. It turns out the issue is a setting in the iPhone as opposed to iDrive. All we have to do is to turn off AutoLock and the problem goes away. So far I have tested it overnight and after a variety of idle times. The music comes right back on as soon as iDrive boots up. Give it a try and see whether it works the same in your cars. My iPhone settings attached.
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