Hi BillNick
There is a company called Grom that do an amazing box of tricks heres the link:
http://gromaudio.co.uk/products/vl1-infotainment-upgrade/lexus-toyota-2006-2009-grom-vline-infotainment-system-upgrade-video-interface.html#Description
It has built in Android as well as Apple CarPlay, ive only just picked up my IS so over the next few months will be going for one!
The great thing is even though you can mirror you can also use the touch screen and steering controls!