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The 9398-1: 4x4 Crawler is an interesting candidate with the new servo motor. It comes in 2H2012. There are more pictures on TechnicBricks.

You'll want to read the TechnicBricks review of that set, which is quite detailed. In short, there are two new motor types; one of which is a servo motor used to control the direction. As the remote used is the usual on/off one, it means you'll be able to steer right or left, but with no granularity (you can also go straight ahead, of course). The other ...

It is built like a regular RC car, there is a two channel remote and receiver combo with outputs for a motor channel and for a servo channel. The steering is done with two separate servos (S Motor, as Lego calls it), which are connected in parallel to the receiver. The remote is a tiny two channel affair with two side-by-side levers that move front to back, ...

There are ipad adaptors for iPad, iPhone. Some connect to the data port, but others connect to the headphone jack, so are eminiently programmable - you presumably just need audio samples. Alex

You could do it using a computer as an intermediate. Basically, you have a wireless connection between your iPhone and your computer, then the IR link between the computer and the RCX. It would be technically challenging but not impossible. The IR tower uses a serial port and the protocol is detailed here ...

If you are looking for some info on sending commands over bluetooth, you might want to check out the link below: http://www.robotappstore.com/Knowledge-Base/Programming-LEGO-NXT-Mindstorms/92.html It's a pretty good introduction into sending direct commands to the NXT over bluetooth. That's what all the videos are doing that you see. What's convenient ...