There is an ICOM function in CGDI Prog BMW key programmer. We have successfully diagnose a BMW 3 series F31 2016 using the CGDI ICOM function.
You need to set up FEM connection on bench using FEM/BDC test platform.
Got ISTA software installed. Go to ICOM function
Choose interface type
CGDI BMW is connected
Scan vehicle information.
It reads vehicle information. Now you can diagnose BMW.