Is it possible to set up a recurring internal transfer between IBKR accounts?

Unfortunately it is not possible to set up a recurring internal transfer between IBKR accounts. You will simply want to log in to Client Portal and request an internal transfer each time you wish to transfer funds or positions internally. Go to the Transfer & Pay section, and choose either Transfer Funds or Transfer Positions depending on what you are trying to do. In both locations there will be tab menus at the top of the screen, select Internal Transfers. Follow the prompts in order to complete your request. Please note, Account Names, Tax IDs and Country of Legal Residence must match on both accounts in order for the request to be approved.

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