I paid the extra for the genuine Toyota nudge bar as it is airbag compliant. (Non-genuine probably are as well, but I don't want to take any chances). The instructions were easy enough to follow. Just read them a few times to make sure you get things up the right way and adjusted correctly. Also ensure you have a torque wrench so you can tighten bolts correctly. I got one from Bunnings for under $50.
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