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As in the classical approach, it is based on the use of suitable extension and trace theorems for appropriate Sobolev spaces. The central result concerns the construction of a linear bounded extension operator \\(\\mathcal E:\\mathcal L^{k,p}(\\Omega)\\to\\mathcal L^{k,p}(G)\\), where \\(\\mathcal L^{k,p}\\) is the Folland-Stein non-isotropic Sobolev space, \\(1\\leq p\\leq\\infty\\), \\(k\\geq1\\), \\(G\\) is a Carnot group of step \\(r<\\infty\\), and \\(\\Omega\\subset G\\) is an \\((\\varepsilon,\\delta)\\) domain with \\(\\text{rad}(\\Omega)>0\\). The main outline of the proof follows \\textit{P. W. Jones} [Acta Math. 147, 71--88 (1981; Zbl 0489.30017)]. An important role in the proof is played by a theorem on the appropriate approximation of functions from \\(\\mathcal L^{k,p}(\\Omega)\\) by functions from \\(C^\\infty(G)\\). 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