Wow, thank you so much for this guide.
I may need to open mine too as i intermittently get P1ABF error. Once every 100km or so, and i have to connect the diagbox and delete the error for electric mode to start working properly.
The car is at 218k now so i guess although there is no rattling noise coming from the differential there may still be some metal powder buildup that prevents it from coupling at some point.