I've done this job. It's not fun. I followed the Bentley manual guidance. A few pieces of advice. BEFORE you disconnect the steering shaft halves, mark the shaft and the clamp in case you move the wheel while they're disconnected. It will make getting the steering wheel back to where it's supposed to be MUCH easier. Don't ask me how I know or how many tries it took to get things properly lined up again.

The bolt that tightens the clamp has to be removed completely as it sits in a space on the shaft which keeps the shaft from being able to be pulled out if the bolt is in there. You can't just loosen the bolt.

Run your steering wheel all the way forward as you may need to use the motor to run it back while you brace the lower shaft so the two will separate. I had to put a screw driver through the clamp and brace it on the sub supports then run the steering wheel out which nicely separated the two. I couldn't make it happen without using the motor.

The new SAS has to be programmed. If you have the correct scanner or INPA you should be able to do it yourself. If not, you'll have to take it to a dealer or an indy that has INPA.

It's a couple hour job. I took longer because of having to repeatedly take things apart to get the steering properly aligned after moving the wheel when the two were shafts disconnected. It's a PITA because you are basically laying on your back in the foot well. Not comfortable.

Good luck!