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For my MY2020 G30 w/ iDrive 7 I was quite confused by this process when trying to add my spouse to my car. The app would constantly say to check the car Messages app for the code and the code wouldn't show in the car.
I gave up and called ConnectedDrive and they informed me that that was no longer supported and they set it all up over the phone and it was good.
You may have to call as well.
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