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Is it possible to integrate the G54 with the NETGEAR Orbi 970 mesh WiFi, and if so, how is it set up?

Yes you can connect mesh system to G54 modem. Just need to enable bridge mode on the G54 GUI then connect mesh system main router to the G54 lan port to the router WAN port for wifi setup. Please follow the steps mentioned on the below article to enable bridge mode on the modem.

http://arris.force.com/consumers/articles/General_FAQs/G54-Bridge-Mode-Setup