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I am using BimmerCode with Vgate WIFI OBD adapter on iOS without problems for years now. My phone is iPhone XR, and I never update my phone regulary, currently on 14.4.2 version - if it ain't broken, don't fix it...
Before hitting connect button in BimmerCode, make sure you have selected your adapter in the options - this is a must (in your case select Vgate iCar Wi-Fi). Put the car on ignition (don't start the engine, only ignition on), then insert Vgate in OBD and then connect with BimmerCode over your phone with airplane mode on. That should be it.
Before coding, also make sure your car battery is fine. I usually take a car for a good spin arround town just to make sure the voltage is fine for coding. Hope it helps.
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