On November 6th 2019 and December 5th 2019 Icom released new firmware. According to Icom’s claim on their latest release it fixes issues with “other manufacturers” hardware and that there were no issues with Icom or Kenwood gear. Sorry Icom, this is plainly wrong.
Setting up D-PRS on the Icom ID-5100 can be confusing for beginners as the radio has lots of options for D-PRS. Here are some step by step pictures an explanation I originally made for a friend, now for everyone.