I got mine done yesterday truck was starting to exhibit a weird vibration with BJ's done its much tighter and no vibes. I also had a check engine light come on and two 02 sensors died at 22,000 miles.
I enjoy going to my local service department about the same as a dentist. We have perhaps the worst service department in the history of Toyota locally. But to my surprise all was fixed, albeit, a few hours later than orginally told.
anyway, I'd say absolutely have it done..... plan on a full day off for your truck its a 3hr job. Unless you have a decent service dept it might be a half day excursion.
In this case better safe than sorry.