To more fully answer your question, yes, you will need to change your router settings every time you connect by wi-fi with your current equipment. You have three options I can think of:
1. Do research on the Internet to see which routers will function in both G and N mode simultaneously without significant slowdown (mostly the more expensive ones) and replace your router with one of them.
2. Assuming you have the normal home setup where you have a single "wi-fi router" which also has at least one open Ethernet port (the place where you plug the cable in), you can buy a separate wi-fi access point and set it to G-only mode.
3. Return your Kindle and upgrade to a 3G version.
Option 1 will cost the most. Option 3 will cost only a little more than option 2 and is less hassle, so you may just want to go that route if you don't plan to buy additional Kindles or other devices that don't support N.
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