DIY for steering wheel vibration/driveline drone TSB

Hi everyone, I searched everything, and a few people mention this in passing, but does anyone know the DIY for the following TSB. Dealer said they won't cover the Toyota, only Lexus, so I'd really like to do it myself.

Here's the TSB with part #s:

dcampen:
From the thread "Steering Wheel Vibration at Highway Speed...revisited":

A STEERING VIBRATION & DRIVELINE VIBRATION/DRONE
CAUSE: INSTALL UPDATED PARTS FOR VIBRATION
ST3010 STEERING VIBRATION & DRIVELINE
VIBRATION/DRONE

1 41196-60010 DAMPER, DIFFERENTIAL
2 90080-10167 BOLT, WASHER BASED H
1 52380-60061 SUPPORT ASSY, DIFFER
1 51405-35101 COVER S/A, ENGINE UN
1 45219-60090 YOKE, STEERING SLIDI
1 45203-60120 SHAFT SUB-ASSY, STRG
FC: 44,99
PART#: 41196-60010
COUNT: 1
2727 DRONE NOISE, SERVICE BULLETIN ST3010

Note that after talking to Toyota Customer Care the real Lexus TSB is NOT ST3010 as stated above, but is really ST004-04.
 
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