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See page 91 in the User Manual. Short answer "yes" and hold down the fob until the lights flash, then press the frunk to summons forward and trunk to summons backwards. Will work only if Summons is turned on in console settings.
I had one fob that wouldn’t summon, and one that would. Went in to the Service Center, they tried a number of things including updating the fob firmware, but in the end they gave me a new fob. Kept the old one as a spare.