Yes. £10 ebay part with a BT receiver, analog output and USB powered. Intercepted cables in the amp under the driver's seat with a suppressor in place. Wired it is as a parallel input from the pre amp into the power amp, so it will be "live" no matter what function you select (CD/tape/radio). However, you can use all the existing functions-just don't play anything on the bluetooth. The best bit is that the factory volume knob still works, however the bluetooth controller has a volume knob and I have stuck it near the gearknob so its within easy reach. Ta da, bluetooth, all factory look.
In terms of "communicating" with the factory head unit, I think you are out of luck unless you swap out the factory nav for a non-nav head unit, which would have to come from a US or Japanese market LS400/Celsior, as a non-nav option was not offered in the UK. Plenty of units on US ebay although the volume knob is on the wrong side! I've looked into this conversion (should the nav fail) and the connectors would all seem to match for the swap, but whether the UK ECU is involved I do not know (would not think so but you never know.)