i just tackled the cam follower and thrust sensor this past weekend. it isn't bad. the dealer told me they wouldn't check the cam follower unless i threw certain codes. (which i did around 38k miles and they replaced the cam, pump and follower) under warranty. They will probably not look at it unless your car meets criteria (whatever that is) needed to check the follower. it sucks i know, but changing the follower isn't bad, and you don't need any special tools, just read through the DIY's and look over your car. you'll need some extension triple square bits and some torx bits and a short stubby 17mm open end wrench.
and to depressurize the car, just let the car sit for 1 hour, and use the schrader valve to depressurize the system. you don't need to go through all the trouble of pulling a fuse to stall the car out and such, (unless you don't have the schrader valve.
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