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What phone do you have? If you have a quick Google search you'll see that Wireless Android Auto is limited to only certain phones / OS versions.
Otherwise (from memory), if you go to devices, you will need to connect to bluetooth, then wireless, then Android Auto.
If none of this makes sense, can you let us know what version of iDrive you are running - maybe you're on iDrive 6??!?!?! But I don't think that's the issue for a late 2021 build, it's likely you don't have a compatible phone... or it's something to do with chip shortages?!?!
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