Ian Grieve continues his very thorough look at GP 2016 with Hands On With Microsoft Dynamics GP 2016 R1: Installing the Companion Application Services
Hands On With Microsoft Dynamics GP 2016 R1: Installing the Companion Application Services | azurecurve
Install, Upgrade & AdminMicrosoft & the GP EcosystemGP 2016
Archived post from 2016. Dynamics GP and the links it points to have changed since; check current documentation before relying on version-specific steps.