Having tackled this before, in my 2000, It’s possible to get to the rudder assembly without removing the tank. You have to remove the carpeted cover over it. Next you have to loosen the straps that hold down the tank, and remove them (3/8 socket I believe).
Then take some blocks and lift and block up the tank do you can get under it to reach the rudder assembly ( much easier with little to no gas in the tank).
I do this each year to grease my rudder and check the linkage.
It’s involved, but worth doing yourself if it saves you $800. Then I’m also the guy that took on the Repower myself in my garage.