How do I answer a phone call and use car speakers with Ford SYNC under iOS 5? I want to talk/listen through the SYNC/car speaker system to stay hands free while driving like I did with iOS 4.

In iOS 5, when I make a call I get a pop up to connect thru SYNC. But, when a call comes in, SYNC goes into Privacy mode and I have to hold and talk thru the iPhone. I don't have any options to tell it to go thru SYNC.

How can I answer calls and use the car's microphone and speakers?
I had this same issue. Here is what I did to fix it.

Remove the bluetooth device from the Ford Sync. Dont just turn it off, actually delete the device from the car

Remove the Sync device from your iPhone. Again, delete the entry from your phone.

REBOOT THE iPHONE (don't forget to do this). 

Resync your phone with your car