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About a year ago we  were told our cable modem, model SBG7600AC2,  was obsolete and would need to be replaced. We have two computers, some TV’s and a couple of tablets as part of our home network.   We just recently decided to swap it out with an S34. When I looked at the package, I noticed the box says  we need a WI Router for whole home networking. This leads me to believe I bought the incorrect cable. If so what version would be best to purchase? 

You bought a modem only device. It doesn’t have built in routing like the SBG7600AC2

Not sure who your ISP is but the G series (G20, G34, G36, G54) are all modem/router combo devices and vary in speeds depending on your needs.