On LHD Prius, the navigation ECU is usually under the driver's seat, and the JBL amplifier (which comes with the extra speakers and 6CD slot in dash instead of the 1CD slot) lives under the passenger's seat.
Bluetooth started to be an option without the navigation system in 2006 or 2007, so just because you have the bluetooth capability, doesn't mean that you have or should have navigation.
It is not common, but sometimes on the 2004-current NHW20 Prius the factory installs the navigation steering wheel or the navigation MFD bezel on a Prius that is not equipped with Navigation. Do you actually have both the steering wheel and bezel buttons? (Both versions are shown in the owner's manual.)
I assume that you've already looked at the car's window sticker (Moroney label) and saw what items it came equipped with from the factory. What option package did you purchase for each car?
Do you have any other display/MFD oddities, such as other "external system not connected" errors for climate control or times when the display seems "stuck" on a certain reading when you think it shouldn't be?
Adding the factory navigation system to a Prius not equipped as such is prohibitively expensive (too many missing parts, such as the steering wheel/bezel change, the navigation ECU box (has gyroscopes in there as well), the antenna (lives behind everything in the dash), the GPS DVD, and the wiring harness... I haven't heard of someone yet attempting this as a DIY job (using wrecked Prius parts). There are debates on owner's lists as to just how poor the factory navigation system is, as compared to other portable aftermarket solutions. (Update DVDs come out maybe once a year for about $300, for example.)
The usual consensus is that if you want navigation (especially if you did not already get it in your Prius when you bought it), to go with an aftermarket solution from Garmin, Magellan, TomTom, or the like.