Sena works brilliantly, seamlessly with my iPhone, and with the App I use for gps, and with music, slips easily between phone calls and music.
Have only fiddled with intercom, but it works well at home with no lag at all.
Battery life is awesome! Have not been able to flatten it yet, longest Is 6 hours with music on whole time and with phone calls so far and is still going strong.
I can highly recommend it from my uses so far