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Thank you for the link, this clarifies some of the question I had.
Changing PropertySets to FilePropertySets fixed the error messages we got. Our copy-tool can be used again, but unfortunately updating the iProperties appears not to be possible anymore when a ModelState is present.
I am still somewhat confused about the explanation they give about editing iProperties (see below). It seems the 2022.1 update made it possible to edit the iProperties again, but even with the FilePropertySets object the changes I make are not saved to the iProperties.
A new API ApprenticeServerDocument.FilePropertySets is exposed in Inventor 2022.1 release, and this FilePropertySets is File level iProperty, and it will return the same property values as the iProperty of master model state, and you can also change the property values in FilePropertySet. If you want to edit the iProperty of a custom model state, it is recommended to use Inventor Server or Inventor instead.
And
The legacy ApprenticeServerDocument.PropertySets does not work in ApprenticeServer anymore when there is custom model state, and in Inventor 2022.1 we introduced a new ApprenticeServerDocument.FilePropertySets instead, so you should make use of the new API to update the file level iProperties.