I purchased the official motorola navigation dock and it charges your phone and sends audio through the usb cable. I use Power Amp, Pandora and even Youtube to send audio through the usb cable and it pumps the sound through my system. There is no special rom needed, its baked into the Motoral based ICS roms. I have used the stock rom, Eclipse and currently on ArticHD and had no problems. I have flashed JB roms and this functionality is lost with all 3 that I have tried so I guess I have to wait for a moto based JB rom to get this functionality back.
Is audio sent from USB cable pulged into phone and head unit or through Bluetooth?