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Mateo01,
Yessssss... a lot lessss. Is a lot of thread here of how you can do it by yourself. If I found it, I'll post it here for you. Is no that complicated to do by yourself.
Good for you bro. In which part of south florida you are? A have a excellent mechanic in Miami. He only work in Toyotas and Lexus. Just in case you need the phone number, let me know.
Here we go here is the link
Also, he have like 2 or 3 GS for parts. He like old scool cars, but he is a good, good guy and excellent prices in parts and labor. Just i case you need. (954) 394-6528 Mike
800 for just one servo? Thats insane. Just did both of mine last weekend. Passenger side does take more work but its worth saving those 800. Saved more money by repaired both using this video