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Hello, have you completed the retrofit? I am doing this on my 2019 G31 530d RWD.
I already had VDC, active steering and auxiliary heating (= second battery). I "only" installed both EMARS and acceleration sensors and corresponding wiring.
Both EMARS are communicating fine over FlexRay, everything seems to be working. The last thing I can not figure out is the coding. VDP ecu is still complaining about coding. Could you share your FA please? I added 2VW, deleted 2VH and 223. And still not OK...
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