Can or How to get phone gps to play thru bluetooth

Help! Read and re read about bluetooth but cannot get my android phone to give voice directions thru system. 2014 Tacoma, also when connected, to system the phone will not give audible commands resulting on staring at screen. Am I missing something in manual or am I asking to much?

 

Do you have the radio set to Bluetooth audio input, the same as if you were steaming Pandora or audio from the phone?

If the radio is set to FM, XM, or other than bluetooth audio, no go on the GPS audio through the stereo.

I have the 2014 Prerunner with no Nav/has weather (ish) and traffic (ish), and use a Samsung S4.