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Recently my system will not recognize my iPhone when connected via the USB cable. It shows up on the screen but I get a message iPod failed to authorize. Was working fine up to a couple of days ago.
 

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2019 2.5i Limited Forester (hers) (4th Subie), 2014 Impreza Premium (mine)(#5)
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Recently my system will not recognize my iPhone when connected via the USB cable. It shows up on the screen but I get a message iPod failed to authorize. Was working fine up to a couple of days ago.
Power down the phone and reboot.

That tends to fix most issues that crop up. Same thing as doing a reboot on your computer.

Also check to make sure you don't have updates waiting to download. I've noticed that can cause issues if IOS is wanting to update itself.
 
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