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Came across this thread after accidentally entering update mode from the developer hidden menu. Tried inserting an audio CD, connecting an iphone to USB audio in port, connecting a formatted USB thumb drive, and accessory / engine power cycle multiple times with no success after fiddling with it for 30 - 45 minutes.
Wife was waiting to use the car so I let her take take it while I came in to do more research.. She says both the lower and upper displays were showing the "Program update started" message while driving but eventually went back to normal after a mile or two. Didn't have to enter security code, etc. and no hard power cycles / resets...
I went back into the dev menu and found ~30+ error events in an event log with time stamps that correlated with the ~45 - ~60 min period where it was stuck update mode. It appears the update process eventually timed out on it's own and the radio / nave / infotainment unit is back to normal.
She mentioned she had to re-pair her phone via Bluetooth. I'm calling this a win.