Definitely not. Don't have to take off steering wheel. Take off the a pillar covers, gauge cluster, lower panels, unbolt and slide back center console. The shape of the dash is small, so it's possible to take it out by yourself.
Which height setting did you set it at in the front? Going to install mine this Friday. Wondering how noticeable is the driver side lean is with Bilstein set at the highest on both side.
Looks like 16261-50140
https://www.megazip.net/zapchasti-dlya-avtomobilej/toyota/4runner-1894/uzn215-4760/uzn215l-gkagka-600096/radiator-water-outlet-7502384#/il-173441254
Unplug the alternator and see if noises change. If yes, then bad alternator. I'm pretty sure it's bad alternator. Also check to see if that power steering pump isn't leaking down onto that alternator.