I got it working in my Focus with MFT.
You need to do a clean pairing for both devices. Make sure you delete the phone out of your car and delete your car out of your phone. Turn your car off for about 30 seconds and restart your phone after deleting each device. Go back through setup from the car and when you connect, you should have to set two approvals, one for accessing your messages and the other for access to your contacts. Obvivously, make sure the 'always allow' or 'never ask again' box is checked, so the approval sticks.