With only 800 miles to go on my 3 yr/36k warranty I got the ball joints replaced at the dealer yesterday. I was glad I didn't let the warranty expire. New joints would have cost me near $1000, according to the quotes I was getting from various alignment shops.

The icing on the cake, however, were the updates the dealer performed on the ECM at the same time. My truck had only the originally G-30 update performed in 2007 and has been running pretty well (so I thought) since then. She's noticeably peppier now, almost like getting a free tuner. I had been putting the updates off out of fear of messing something up since once the updates are installed they're irreversible (or so I've read). My fears were ungrounded. I'm pleased with the improvements in power and I'm also hopeful that there will be less regenerations and perhaps some other improvements I'm not aware of at this time.