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For BMW with idrive you have to go to "settings" and "Bluetooth" on your iPhone. Tap on the "i" on the right hand side next to your saved BMW. There should be something that says "notifications" and make sure it shows green. If notifications isn't there, try repairing your phone and car. If that works, you should get a little envelope that shows up on your idrive screen when you get a new text.
Hope that helps
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