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CD changer has a 3-pin connector, (+), (-) and i-bus, and a 6-pin connector (or, as an alternative, a coax connector for digital out) for audio, which has only left and right channels... most aftermarket devices mimic CD changer to fool the system to think changer is connected (telegram on i-bus, on the 3-pin connector), and the radio pipes the sound from the 6-pin connector (or coax plug) into the system...
from your description it is hard to figure out what you have and what you want to do - start with the month/year of your ride, then tell us if you have factory nav or not, and if you have DSP or not...
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