I found out how to keep sync connected to this function, I'm a little slow with this stuff. When I started the car the phone had notifications for MAP and contacts. Before choosing allow, I checked the boxes that said "don't ask me again". This makes it automatically allow every time I start the car. Sync only allows me to send the pre-canned messages back, but that's okay.
I hope my fumbling around on this forum helps someone else get things working.