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In your samples the class com.sap.cloud.sdk.s4hana.connectivity.ErpEndpoint is used (see Deep Dive 5 Blog) however this class is missing in SDK 2.8.1.

How can a BapiQuery be created using SDK 2.8.1?

O. Merk
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In version 2.0.0 of the S/4HANA Cloud SDK, the ErpEndpoint was removed as per the release notes. The guidance is to use ErpConfigContext instead.

Addition: The deep dive 5 was updated accordingly.

Emdee
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    You can also find more details here: https://blogs.sap.com/2018/06/05/migration-guide-moving-to-version-2.0.0-of-the-sap-s4hana-cloud-sdk/ – Sander Wozniak Dec 19 '18 at 14:05