Well I pulled the actuator and while the gear was worn it wasn’t as bad as I expected. Teeth still there and worm gear seemed to engage ok. I did end up replacing the whole unit as I figured it was 18 years old and cannot hurt. Sadly I’m still getting the same error under VTG: 55C4. Reset code drove it 4x4 light never went off, scanned again and code was back. The other thing I noticed was when scanning all modules, the ABS was never found, I cannot remember if it ever was. So not sure if that is indication of the ABS/DSC module being bad or just need to use a different scanner. I have INPA and am setting up DIS. I’m a not very experienced using either of those.