my 3Gs works with 550i xdrive
As mentioned earlier, what is key is to get the right adapter, there are a bunch of them and for an F10 made after October 2010, the 3GS "Media" adapter is needed. Mine works no problem, full music integration, display of cover art, etc. A nice thing I discovered is that I can use Pandora and other audio sources on the iphone and while it is in the snap in adapter, this audio takes priority and is what gets played through the sound system.
Most of the issues people experience is because they get the wrong adapter.
John
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