Parrot minikit - no I havent used it.
However, I have used my iphone 3G with my BMW integrated bluetooth kit and it works like a dream - everything is over bluetooth, no cradles, cables nothing.
In principle the parrot should be the same thing. With my car, even if the phone is in my jacket in theboot, I can dial with the integrated dial pad or the voice activated memory in the car using the steering wheel controls.