05 Toyota 4runner V6 SR5 wont engage 4wd 4L

I have a 05 T4R SR5 V6 & cannot get the 4WD 4 Low to engage, It beeps & the 4L flashes on & off. Very common problem w/03=09 T4R: use it or lose it! Guessing the front actuator wont engage. Lithium grease apparenlty gums up if not used often. Research also suggests repair is very expensive, $1000 & difficult. Eric’s videos on an 04 T4R are very helpful, However I’ve never seen a video on installing replacement front actuator. I found the part for abt $200. How hard is this & what’s the process?

Thanks!