I also have the standard radio and once my phone is paired to it (not it to the phone) it connects each time I get in the car.
Make sure your bluetooth function is active on your phone. If you scroll BT devices on your phone the car radio should be listed.
I haven't bothered with the voice recognition feature. I just want to be able to answer a call, or place one and talk hands-free. So I can't really help you with that, but it should be pretty straightforward.
And yes, the manual is a PITA. They mix in the two radio types and it's very hard to understand. And I've been a technical writer and I'm an IT tech, so one would think I could understand it. :