I have a group of people creating subtasks offline. How can I import these and link them to the parent issue?
Well the most obvious answer is to stop having people create them offline.
Otherwise you can use the REST api to create sub-tasks,
https://docs.atlassian.com/jira/REST/latest/#idp1846544
Or potentially the JSON import (which essentially mimics REST update)
https://confluence.atlassian.com/pages/viewpage.action?pageId=293830712
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