My understanding is it's about no button labels on the set itself. G stands for Global, and that means they decided, since they would sell them all over the world, to not print any button labels on the plastic for dedicated buttons for mute and voicemail and such.
The following excerpt from an Avaya user guide is a description of the differences (it also included the 9621G).
"The letter G in a deskphone model name indicates the presence of a built-in Gigabit Ethernet
adapter that increases the transmission speed of data.
The 9621G, 9641G, and 9641GS deskphones provide a color LCD display. 9621G deskphones
have a smaller display area than 9641G deskphones, and do not have a USB interface. 9641GS
deskphones have a 5.0 inch capacitive TFT screen as compared to the 4.7 inch resistive TFT
screen on the 9641G. Thus, the 9641GS provides a higher touch sensitivity, and a brighter and
sharper look. The 9641GS deskphones provide the Ethernet link and activity LED for the network
port, located on the back panel of the phone. Unless specifically stated in this guide, the three
models are essentially the same in terms of features and functionality."
You are getting lost in a distinction between how something is programmed in CM/SMGR and the actual physical device. This is where alias and emulation come in to play. The “9641” in CM refers to a logical model which CM uses to provide service. That logical model can be used with multiple physical models - 9641G, 9641GS, One-X Communicator,…. You can even log a 9608G or 9611G into that logical extension. This gets especially confusing with SIP when you can have 10 very different physical models registered simultaneously with a single logical model.
There are underlying hardware (chipset) differences which have caused issues in the past. The 9641G I believe is still Manufacturer Software Support until 13 Dec 2024 while the 9641 Targeted End-of-Support was October 2019.
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