I've got a 19' coming up on 36k. I'm convinced that the shocks are tired, but the dealer has been nothing but obstinate about any ride quality complaints. I'm done wasting hours out of my day on them so I found a full set of 20 mile take-offs taken off a baja build for a solid price and I picked them up - I want to swap them on, but I've been given conflicting statements as to whether doing so is going to somehow impact the pre-ESP inspection in the near future? Am I good to have these thrown on or should I secure the ESP before doing so?