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I regularly use it on long drives so I know it has its issues. But with regards to your points:
1) No never had this
2) Not had this but I have a vague recollection of Waze saying this was a bug that was fixed in a later update. I might be wrong though. Try updating your Waze if you haven't. I'm on the Beta program and not had that issue
3) I don't remember the last time I used BMW Nav so can't comment on whether iMessage alerts come through but I can test this later on.
I would suggest unpairing and repairing your phone first to see if it resolves these issues.
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