I recently helped someone from here do theirs. My advice wash all the mud and dirt off the bottom of truck first so it doesn't get in your eyes. Spray a little PB Blaster/ Liquid Wrench etc on the night before so the nuts will come off easily. You will have to pull some trim pieces and lift your carpet to access the bolts from the inside. Don't worry you don't have to pull seats or dismantle entire interior it is really simple and will only take an hour or two. Invite a friend over for pizza and beverage to provide a hand and some support. Use a socket slightly larger then the head of the bolts and a hammer to tap the washer off the facotry bolts as they are pretty stubborn.
when doing the steering shaft extension, be sure not to turn the steering wheel. It might seem like a good idea because it's hard to reach one of the bolts, but it messes stuff up if you do turn it.