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In order to provide you with an answer please reply with the following information. On each account, whether it's student loans, auto loans, or credit card accounts, include age of the account, original loan or line of credit, current balances, inquiries and their age. Authorized user accounts are great when they come from a parent. I just watched a video from FICo on authorized user accounts.
Adding an AU will help FICO 8 scores for sure, and probably mortgage scores. The scores you posted, are they the mortgage scores that can only be obtained here vs. FICO 8 scores that can be obtained various ways?
When you have a major purchase as in this case a house, it depends on lender overlays, and underwriting. They may ask you be removed as AU on any accounts for a mortgage. It will depend upon the lender.
With the scores and credit you have provided, I honestly think even with 1 late as a derog, that there is some other derogs on your reports with the loans you have, and paid accounts.
Do you have any derogs on the closed and paid accounts? Any collections?