I did mine after I bought my pickup and the speedo needle was bouncing around. I disconnected the top end, which means you have to pull the instrument cluster, and the bottom end from the transfer case. Then I brought up the bottom end up through the engine compartment so that it was basically at the same level as the inside portion and then started lubing. I squirted some graphited lock fluid I had sitting around into the engine bay end and just kept twisting and pulling on the cable until I had lube coming out of the dashboard end. Hooked it all back up and it's been working great for 6 months or so. Wasn't all that tough, even for a guy like me.

 

I think I paid $115 for a new Toyota cable a few years ago...that's always an option.