After doing this myself, I wanted to report back that I had to take it to a shop to get it fixed.
As mentioned before, this RSC situation (which is what this is all related to) has gone bad in our van twice, back when we used it to pull around a '76 Airstream. It cost like $600 and $800 to have a dealership fix it, and when it went bad the second time, 1000s of miles from the previous dealership, it was not able to be fixed again for free or anything.
So if you find yourself in the situation where your RSC is acting up and you just want it fixed but don't want to skip a mortgage payment, and you can make it to Durango, CO, the guys at 4x4 and More (a garage near Home Depot in that town) can do the job. It was $170 or so and two months, 5000+ miles later I haven't had a single issue with it.
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