I just did mine yesterday.
From that guide, id say you dont need to remove the screws on the underside of the steering column. Just prise apart the front bit, that is where it clips in. Then side it up, forwards and out!
Also, youll need to remove the covers on the a pillars. Just kinda pop them off starting nearest the roof. There is one clip youll have to stick your finger in to unclip.
Got my mbquart PSD213s in now, and my steering remote controller