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Apple has just released iOS4: the highly anticipated operating system update for iPhone and iPod Touch. You can download iOS 4 now by connecting your iDevice to iTunes and hitting Check for Update.

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The update is free for both iPhone and iPod Touch users, however not all features work with all models. For example, multitasking is available only with the iPhone 3GS and the upcoming iPhone 4.

If you’re not seeing it yet, here are the direct download links:

iPhone 3GS: http://appldnld.apple.com.edgesuite.net/content.info.apple.com/iPhone4/061-7437.20100621.5urG8/iPhone2,1_4.0_8A293_Restore.ipsw

and iPhone 3G: http://appldnld.apple.com.edgesuite.net/content.info.apple.com/iPhone4/061-7436.20100621.58Yt4/iPhone1,2_4.0_8A293_Restore.ipsw

or iPod Touch 2G http://appldnld.apple.com.edgesuite.net/content.info.apple.com/iPhone4/061-7435.20100621.tr49t/iPod2,1_4.0_8A293_Restore.ipsw

iPod Touch 3G http://appldnld.apple.com.edgesuite.net/content.info.apple.com/iPhone4/061-7381.20100621.AzSP9/iPod3,1_4.0_8A293_Restore.ipsw

So start downloading now! And let us know how the iOS 4 updating process goes for you in the comments box below.