I followed the instructions to connect the phone to the car via Wifi and Bluetooth and the app even says that it is connected. It downloaded onto the My BMW app really easily. I got a notification that there was an upgrade available for my G20. I'm taking it in next month for an oil change and inspection so I'll bring it up then and see what they have to say about it. So it's annoying (but slightly relieving) to know it doesn't seem to have ever been getting OTA updates over it's lifetime. I also noticed that while the car now says its up to date being on 3/21, the release notes on the Software Update section on the Connected Drive website are showing for 7/21 which would indicate to me the car should be getting them.

I guess the car was just never getting OTA updates even before I bought it and the dealer just flashed the latest update before delivering (which at the time was 3/21) which brought Android Auto with it. Before buying the car, the dealer confirmed the car did not have Android Auto and they checked and the car said it's up to date as far as the OTA services were concerned. It seems like I just really misunderstood the requirements (this is my first BMW so I didn't really know anything about iDrive). I looked into it a little more and found this: Some G20s did come with ID6 but I think it was based on trim and options (like cars that had analogue gauges and stuff not sure what exactly it was).

Upgrade idrive 6 to 7