Hi to all good afternoon

I have genotype data of backcross progeny along with their parents for SNP markers. Now my problem is i got missing or heterozygous status for some SNP markers in P2 (second parent) now i want to impute or predict P2 data based on progeny genotypic data. i would like to are there any tools/ scripts/packages in R or other software to do this type of work? any help in this regard is highly help full for me and would be appreciated. i am sharing my example file with dummy data for better understanding. please find my file here. https://www.dropbox.com/scl/fi/rh6goxr8f9odkpsjuxlcv/imputation.xlsx?dl=0&rlkey=etmbtq9t8c9ba2lctk3zsiw1c

Thanking you very much in advance