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Windows Central Question
Lumia 950 XL appears with yellow exclamation mark in Device Manager in Windows 10 and Windows appears to be unable to find a driver for it. How is this supposed to work?
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Right click and uninstall the driver it already has, then disconnect and connect your phone again. This Might solve the issue
Download and extract View any installed/connected USB device on your system Inside the folder > right click the exe > run as admin
Delete all drivers marked Nokia or Lumia > plug the device into USB and let a fresh set of drivers install.
As an optional method, go to Control Panel (Win+X+P). Under Hardware and Sound, click "View devices and printers". On the page, if you see your phone listed with the exclamation mark, click on the phone, and in the bar above, click "Remove device". After that unplug your phone from the computer and plug it back again. Let the drivers install afresh.
This might also help you. I had done this with my phone and it fixed the same issue as yours.
Download and extract View any installed/connected USB device on your system Inside the folder > right click the exe > run as admin
Delete all drivers marked Nokia or Lumia > plug the device into USB and let a fresh set of drivers install.