Tell us about yourself!
Just read your alternate dealer-recommended removal and saw that it details doing this - the EPS is not that sensitive. All it takes is removing the u-joint bolt while wheels are facing straight and assuring the steering wheel does not turn when removed. It will only trigger these lights if you move the steering wheel and the clock spring wires snap as a result.
This is a good DIY, but one step in particular requires much more work than is needed. The steering rack can easily come down with the subframe by simply unbolting the U-Joint from the cabin floorboard area and being mindful to lock the wheel prior to uninstall/mark the position. Not only is this way faster, but probably a lot safer than rigging it up to support it from hanging down.