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Open Bluetooth on the iPhone, switch off and then back on. Tell Bluetooth in the truck to Add New Device. When it finds the iPhone it will say something like 'Anonymous's iPhone 5S'. The Truck will generate the code which you put into the iPhone to pair it. I did this on a Lexus on Wednesday.
It's not possible to obtain stereo Bluetooth for the 2008 Prius. Toyota did not make this possible until the 2010 model with the navigation package. Actually, if your iPhone 4 is jailbroken, there is a complicated way to trick the car into thinking your music is actually a phone call, and it will force play the music over the speakers as such. But the quality is terrible (mono, not stereo). You're much better off sticking to the AUX cable, even though it does get annoying to plug in every time you drive.