can't update or restore iPhone s error 2006

Error 2006 during updating your iPhone points to an issue with your USB connection.

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If you see one of the errors below, check your USB connection, USB cable, USB port, or computer:

• 13, 1600, 1601, 1602, 1603, 1604, 1611, 1643–1650
• 2000, 2001, 2002, 2005, 2006, 2009
• An error that includes "invalid response"

Here's what to check. Try again after each step:

1. Use the USB cable that came with your device. If you don't have it, try a different Apple USB cable. 
2. Switch to a different USB port on your computer. Don't plug into your keyboard.
3. Switch to a USB port on a different computer.
4. If you still see the error, check for other USB issues, check your third-party security software, then check your hardware.

If you still see an error, contact Apple Support.

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copied from: iOS update and restore errors - Apple Support