How to repair the ECU Skid Control?

I've seen a lot of threads about the skid control ECU. I've seen people mention that there are various part numbers that work on the Gen 2s as they've updated them over the years. I've seen that typically the dealer wants 2000$ to fix this problem when you can get the part on Ebay for $50 or so. But, what I haven't seen is a thread that explains how to do the repair. Nor can I find a youtube video.

All I've found so far is this:
https://attachments.priuschat.com/attachment-files/2015/07/77810_skid_control_ECU.install.pdf

So, can anyone point me to a step by step process guide or video? Is this a difficult repair to accomplish? Note: I did replace my own hybrid batter pack with a reconditioned one and didn't find that to be too hard. But, I've never taken off the steering wheel before so i'm a tad intimidated by what this could take.

Thanks,
Danny

 

I am doing this replacement because this morning I got multiple lights on my screen that lead me down a path of discovering my skid control ECU skid control is apparently out of commission. Yes, the part number is 89540-47130. One dealer is telling me there is a warranty enhancement program that might be applicable to this repair. I have 236k miles so the original TSB-017412 covers just the basic 36k miles. So, I'm on a witch hunt now it seems. I'm trying to identify what warranty enhancement program document the guy was referring to that would give me unlimited mileage to have Toyota perform the repair. The second dealer I spoke to said I ran out of mileage coverage at 150k.

In parallel, I ordered a used ECU computer on ebay for 95$. The dealer 2 guy said they can install it for 300$ (i'm already in for 150 diagnosis so the extra 150 probably is worth having them do it). But, if it's a real simple repair, I was curious to try it myself. But I don't have the software/laptop that Eric is mentioning above so it might not be worth the effort.