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The specified USB IDs in the Udev rules file are as follows:

Name USB ID
Crypto Stick 1.2 20a0:4107
Nitrokey 3A Mini/3A NFC/3C NFC 20a0:42b2
Nitrokey 3A NFC Bootloader/3C NFC Bootloader 20a0:42dd
Nitrokey 3A Mini Bootloader 20a0:42e8
Nitrokey FIDO U2F 20a0:4287
Nitrokey FIDO2 20a0:42b1
Nitrokey HSM 20a0:4230
Nitrokey Pro 20a0:4108
Nitrokey Pro Bootloader 20a0:42b4
Nitrokey Start 20a0:4211
Nitrokey Storage 20a0:4109
Nitrokey Storage Bootloader 03eb:2ff1
Nitrokey U2F 2581:f1d0

Generated from 41-nitrokey.rules.