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Hello

There could be several reasons. Did you buy the phone new? Or was it second hand? Is the model number one sold specifically for your market/region? Do you have good WiFi access?

Some of the most common reasons we see for this is that the phone isn't being recognized by AT&T, or is out of their service area. A phone won't update when it's roaming, or has a weak ir missing WiFi signal.
 
Is it a AT&T branded G6 and are you using it on AT&T's network with a AT&T Sim?
From past experience with AT&T Samsung phones, you won't receive updates unless you are on their network.
 
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