By chassis, I assume they mean several points in the suspension. If the 4WD "needs" this, the 2WD should be no different. I would bet it does not need to be done as frequently as the dealer would have you beleive though.
If you're a do-it-yourselfer, I can't see any reason why you could not find out what's done and with what type of lubricant and just grab a grease gun and do it yourself.
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