A control system is for a vehicle with vehicle devices and a data communications bus extending through the vehicle and coupled to the vehicle devices. The control system may include a vehicle wireless device, and a vehicle controller configured to communicate, via the data communications bus, with a vehicle device based upon an authorized wireless control device, and send a request for authorization, via the vehicle wireless device, of a new wireless control device to be able to operate the vehicle controller. The control system may include a remote wireless device away from the vehicle and configured to receive the request for authorization from the vehicle controller, present the request for authorization to a user, and permit the user to send a response to the request for authorization to the vehicle controller.