^^^ Yes... you will need the service terminal for final set up on the steer FB encoder.
If you are going to do it yourself or even if you are going to farm it out... Help yourself (or the tech you call in) and hose the 2 dowel pins in the drive unit mounting weldment down with Aerokroil (or a good penetrating oil) a day or so before tearing it down.
Be safe! Like mentioned above, a lot of spots for crushed broken bones when doing this repair.
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