Is there a way to batch attach media/images to post items using CSV/XML/JSON

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I have a custom post type. I am playing around with importing posts programmatically, working ok.
But I am having issues attaching media items to the posts.

I seem to be able to import media items, but they are not attaching to a post items.

I haven’t used WordPress much in the last \~6 years, but remember being able to do this in past for a project uing a CSV importer plugin.

The post items have an image gallery.

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