Yes, I believe that you have interpreted the wiring diagram correctly.
In terms of how the comms happens, whilst J1087 is indeed the module that drives the lamps (they are indicated as incandescent, not LED in the wiring diagram - yes, I was surprised too), it's J1086 that has full CAN status and it's this module that has direct participation in communications with the rest of the car's CAN network.
As you have observed, J1087 is connected to J1086 in what seems to be sub-CAN arrangement (so J1087 is a kind of "slave" to J1086). I assume that instructions like "light up K304" happens over this sub-CAN link between J1086 and J1087.
As for the best place to splice the connections, here's my cut-down version of the relevant information:
As you can see and as you have said - the BSM lamp wires travel along the bottom sills from the rear of the car (where J1087 is located) to the 27 x pin coupling points TTVR & TTVL. The wires then enter the door cavities at these coupling points. I agree that the car interior side of these coupling points is probably the best place to make your connections.
You should see a
green wire connected to pin#1 on the right-side coupling point. This is the wire that connects to
Input on the right-side transistor circuit and a brown wire on pin#2 connects to
Earth in my transistor circuit
The left side connection points are the same for the
yellow wire on pin#1 of the coupling point which connects to
Input on the left-side transistor circuit. It depends on where you mount the new LEDs - but if it's convenient, you don't need to run another earth - just use the same brown wire connection from the right side.
If this was my project and before I reached for a blade to cut the wire insulation, I would borrow a small sewing needle from my current life-time partner (wife). Pierce the insulation on the yellow, or green wire so that the needle touches the copper wire, then using a multi-meter, check that a voltage (to an earth point) appears on the needle when the BSM lamp illuminates - both of the native BSM lamps turn-on as part of a test-cycle at ignition switch-on.
Again, before any permanent wiring changes are made and assuming the check above is OK, I would temporarily hook-up my prototype transistor circuit to the needle (and earth) and check the operation of the additional circuit- as proof-of-concept
Don
PS: I'm not sure about your mention of a "blue wire" on TTVL. I can't find any such colored wire on my wiring diagram - but if it's physically there on your car - it almost certainly isn't related to your project
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